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基于ROS的机械臂轨迹规划研究
刘汝佳,王芳,张强,李楠
0
(航天科工智能机器人有限责任公司)
摘要:
针对机械臂轨迹规划中算法复杂、开发难度高的技术难点,提出基于一款开源软件平台(Robot Operating System,ROS)为机械臂搭建控制系统的方法作为解决方案。在此基础上,设计了一种基于五次多项式插值的算法来弥补该开源软件平台中关于轨迹规划功能的不足,并通过仿真实验验证了改进后的控制算法可以提高机械臂控制性能。该方法对于实现工程机械臂轨迹规划问题具有普遍的指导意义。
关键词:  机器人  机械臂  ROS  运动控制  轨迹规划
DOI:
基金项目:
Research on Trajectory Planning of ROS-based Robot Arm
LIU Ru-jia,WANG Fang,ZHANG Qiang,LI Nan
(Aerospace Science & Industry Intelligence Robot Co. Ltd)
Abstract:
In case of the technical difficulties of the development in manipulator trajectory planning, a solution that builds a robotic arm control system based on an open source software platform (Robot Operating System, ROS) is put forward here. On this basis, an algorithm based on quintic polynomial interpolation is presented to cover the shortage of ROS algorithm on trajectory planning functions, and the simulation results show that the new algorithms can improve the control function of manipulator arm. And the method provides a reference to engineering manipulator arm trajectory planning.
Key words:  Robot  Manipulator arm  ROS  Motion control  Trajectory planning

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