Kinematics Analysis And Trajectory Planning Of Six-DOF Manipulator Based On ROS

With the rapid development of modern industrial science and technology,robot arm technology has gradually become one of the most intelligent technical products in the world’s industrial production field.It can achieve high mechanization and automation of products by replacing people to do repetitive work,and can work in dangerous environments to ensure workers’ lives.Therefore,it is widely used in machinery manufacturing,vehicles,metallurgy,electrical,light industry and atomic energy industries.At present,kinematics analysis and trajectory planning of manipulator are still the main research and development directions of manipulator,and efficient and accurate path planning algorithm and high-speed and stable trajectory are significant for improving the stability,accuracy and efficiency of manipulator.How to make the end controller of the manipulator reach the designated target area quickly,safely and effectively through a smooth,fast,stable and safe trajectory is the focus of this paper.Therefore,starting from these two aspects,taking UR5 manipulator as the research object,this paper has carried out the following research work:On the basis of searching the related literatures abroad,this paper constructs the mathematical model of UR5 robot arm with six degrees of freedom by improving the D-H method.The URDF model of UR5 robot arm constructed by ROS platform is adopted,and the URDF data of the robot arm is matched by Moveit function package,and a simulation experiment template is established for the subsequent research and development of path planning and trajectory planning of UR5 robot arm.Through the experimental research on the theories and codes of different path planning methods for searching and sampling on the robot arm,the shortcomings of common path planning methods are summarized.Aiming at the deficiency of the fast expanding random tree algorithm,a bidirectional expansion random tree algorithm with goal orientation is given,and the effectiveness of this method is proved by simulation and comparative experiments.Based on the introduction of the trajectory planning principle of manipulator,the method and process of trajectory planning in joint space and Cartesian space are discussed.The principle of common trajectory planning algorithms is analyzed,and their advantages and disadvantages are compared and analyzed through code realization.On this basis,the trajectory planning method based on linear function interpolation of parabolic transition is discussed and analyzed,and its multi-axis time synchronization algorithm is realized.Under the condition of satisfying the constraints,the motion simulation experiment of UR5 manipulator is carried out by using pybullet physical simulation platform.The experimental results show that the motion trajectory is more stable,which can reduce the impact and wear of manipulator joints,and provide a theoretical basis for the control of manipulator.