Author(s)

Mu Weiwei

Corresponding Author

Mu Weiwei

ABSTRACT

Aiming at the problem of large workload and poor portability of traditional robotic control system when facing specific objects, an internationally popular open source robotic operating system (ROS) was used as a platform to construct a robotic control system, and a self-made SCARA manipulator was used as an example to illustrate the system design method. URDF format files were used to import robot data and display the three-dimensional model on the ROS visualization tool RViz. The MoveIt! was used to complete the motion planning of the manipulator, and to speed up the operation through a custom inverse algorithm. Finally, according to the specific hardware, the PVT motion data was converted into actual motion. The experimental results show that the robot control system based on ROS can be designed quickly and efficiently to meet working requirements.

KEYWORDS

ROS, Robot Arm, Motion Planning