Research On Motion Control Of Six Degrees Of Freedom Robotic Arm Based On ROS

As a highly automated device that can replace manual operation for repetitive operation,the robot arm is also increasingly studied due to its increasingly wide application in various aspects.Among them,trajectory planning and obstacle avoidance are the main research directions of six-degree-of-freedom robotic arm control,and the efficient,accurate and fast and smooth collision-free planning trajectory is of great significance to improving the efficiency of operation.In this paper,taking the V6 PLUS desktop robotic arm produced by Anno Robotics Company as the research object,the control system,kinematics,trajectory planning,obstacle avoidance planning and physical operation of the six-degree-of-freedom robotic arm are analyzed and studied based on the ROS system.First of all,the Anno V6 PLUS robot arm body is analyzed,and the software and hardware of the robot arm control system are selected and introduced,and then the complete robot control system is built.The kinematic characteristics of the Anno V6 PLUS robotic arm are analyzed,and the kinematic model of the Anno V6 PLUS robotic arm is established by D-H modeling method according to the structural characteristics of the robotic arm,and the positive and negative kinematics of the annotated arm are derived,the transformation relationship between the mechanical arm in the joint space and the Cartesian space is clarified,and the accuracy of the established kinematic model and the accuracy of kinematic derivation are verified by the robot toolbox in MATLAB.Second,through Solidworks,a 1:1 3D model of the robotic arm is built,a common URDF model in ROS is generated,and the configuration of motion planning is completed using ROS Move It!.In ROS,the trajectory planning of the robotic arm in the joint space and the Cartesian space is realized in the ROS,and the jittering phenomenon of the manipulator in the planning is optimized by using the three-spline interpolation algorithm in the joint space,so that the angular displacement and angular velocity of the stepper motor of the robotic arm can maintain continuous and smooth operation,and effectively solve the jitter problem.The use of linear interpolation and three-point circular arc method in Cartesian space allows the robot arm to perform linear and circular movements.Finally,the collision-free path planning problem of the robot arm in a complex environment is analyzed,the path generation of RRT and Bi-RRT is compared and analyzed,and the idea of probability is applied to the Bi-RRT algorithm in view of the problems of too blind sampling points,too many generation nodes,and thus long planning time,so as to reduce useless nodes,shorten the algorithm convergence time,and improve the efficiency of the algorithm.Three algorithms are programmed to simulate and verify the same obstacle map using MATLAB,and at the same time,the path search of the robot arm is tested by establishing a practical application environment.The results show that the improved algorithm generates optimizations on useless nodes at about 60% while ensuring path length,and about 55% in planning time,which improves the efficiency of the algorithm.