Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS

This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.