Path Planning of Five - section scurve interpolation method

DOI

10.2991/ncce-18.2018.152How to use a DOI?

Keywords

ROS; Motion control; Trajectory planning; Five - section scurvy interpolation method.

Abstract

In the ROS environment, study the D H modeling, trajectory planning algorithm and simulation of Youbot mechanical arm. In the ROS environment, with MoveIt!Tools, mechanical arm Yobot model based on D H parameter model, the calculation of the mechanical arm homogeneous transformation matrix, through simulation toolbox is inverse kinematics simulation and motion simulation of trajectory planning control research. The displacement, velocity, acceleration and terminal trajectory of each joint of the manipulator were obtained by simulation. From the simulation results, it can be seen that the research method is of great practical significance to the research on the motion control of the manipulator, which provides reference for the research of the manipulator control and optimization algorithm of Youbot.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Boquan Zhang
AU  - Sheng Gao
PY  - 2018/05
DA  - 2018/05
TI  - Path Planning of Five - section scurve interpolation method
BT  - Proceedings of the 2018 International Conference on Network, Communication, Computer Engineering (NCCE 2018)
PB  - Atlantis Press
SP  - 908
EP  - 911
SN  - 1951-6851
UR  - https://doi.org/10.2991/ncce-18.2018.152
DO  - 10.2991/ncce-18.2018.152
ID  - Zhang2018/05
ER  -