Research on trajectory planning method of dual-arm robot based on ROS

Taking into account the intuitiveness and high efficiency of the robot development process, the robot development method based on ROS is adopted. Firstly, the kinematics modeling of the dual-arm robot is performed, and the robot kinematics is solved. Secondly, the basic principles of linear trajectory planning and circular arc trajectory planning are introduced. The trajectory planning method based on Cartesian space is used to plan the trajectory of the end of the manipulator. Finally, the robot model file is imported into MoveIt!, and the robot trajectory planning control program is written through the user API for motion planning. At the same time, RViz can visualize the robot motion process, which verifies the correctness of the trajectory planning. ROS can also obtain robot motion data, display the robot motion process in multiple dimensions, and provide powerful data support for other subsequent tasks. The results show that the robot development method based on ROS is feasible.