Development of Dual-Arm Assistant Robot: Motion Trajectory Planning for the Manipulator Arm

摘要

This article is aimed at developing software solution for trajectory planning in the field of creating a universal robot designed to perform various simple tasks, with the purpose of replacing human labor, in a remote and autonomous mode. The article describes the application of the MoveIt! package and the OMPL framework for planning the trajectory of 7-axis manipulator arms of a human-like robot. An experimental comparison of various algorithms for planning the robot arm trajectory motion in a deterministic work area with obstacles has been carried out by several criteria. The number of successful planning procedures was assumed to be the main criterion for the algorithm operation quality. The scope of this software will be industrial robots to replace people in the workplace and personal assistant robots.