Research On ROS-based Robotic Arm Implementation Control System

In the process of industrial automation production,the real-time control of the robotic arm is a technical difficulty.In order to meet the demands,,the research on the real-time control system of the robotic arm is carried out through the ROS platform under the Linux system.It provides more options for real-time control of robotic arms.Based on the ROS platform,this paper designs a ROS-based real-time control system for the manipulator by combining ROS with the manipulator.Real-time kernel Xenomai that is the internal basis of the manipulator is established,and Gazebo is used for the simulation platform.The completed control system of the manipulator includes forward and inverse kinematics solver and path planning algorithm.Proposing an algorithm to improve the motion path of the manipulator based on trajectory points.The main research contents and theories are following:(1)With the wider application of robotic arms and the development of the ROS platform,the research on the real-time control system of the robotic arm through the ROS platform is more and more popular.This paper investigates the development of related research.The program is that the system uses the Linux system computer equipped with the ROS platform as the controller,and completes the control system by designing the control interface and navigation function on the computer;(2)Partially transform for the Linux system computer is equipped with ROS,add the Xenomai real-time microkernel to conduct real-time tasks,and further improve the real-time performance under the limited hardware conditions such as the robotic arm fields;(3)Use Move It to implement functions such as collision detection,forward and inverse kinematics calculation,and path planning algorithms in the real-time control process of the manipulator,and refer to the open source library for configuration to realize the control work of the AUBO manipulator under the ROS platform;(4)The Rviz visualization tool and the Gazebo simulation platform are used to display and simulate the experimental design,complete the teaching function during the control process,monitor the condition of the robotic arm during the experiment,and adjust the pose of the robotic arm during the control process at the same time.(5)The extraction of path trajectory points is carried out for the fixed path,and the improvement of the motion path algorithm of the manipulator is completed for the trajectory points,and the designed path planning algorithm based on the trajectory points is simulated and verified by experiments.