Abstract
Abstract This paper studies the robot arm sorting position control based on robot operation system (ROS), which works depending on the characteristics of the robot arm sorting operation using the top method, to automate the sorting operation and improve the work efficiency of workpiece sorting. Through the ROS MoveIt! module, the sorting pose and movement path of the robotic arm are planned, the inverse kinematics of the sorting robotic arm is solved, and the movement pose characteristics of the sorting robotic arm are analysed. The robot arm model was created using Solidworks software, and the URDF model file of the robot arm was exported through the sw2urdf plugin conversion tool, and the parameters were configured. Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected. The robot motion planning analysis and sorting manipulator drive UR5 manipulator. The results show that the sorting pose and motion trajectory of the robot arm are determined by controlling the sorting pose of the sorting robot arm, and the maximum radius value of the tool centre point (TCP) rotation of the robot arm and the position of the workpiece are obtained. This method can improve the success rate of industrial sorting robots in grabbing objects. This analysis is of great significance to the research of robots’ autonomous object grabbing.
Highlights
The research of robots on its various applications involves various fields such as military, aerospace, medicine, agriculture, industrial products, etc
robot operating system (ROS) is an integrated development platform, composed of complex functions package, which includes a mechanical arm motion planning, operation control, 3D perception, kinematics modules, and the plugins that can be used in industrial, research and other fields
A series of positions are generated between the target position points to ensure that the start and end of the movement are the constraints of the vertical pose
Summary
The research of robots on its various applications involves various fields such as military, aerospace, medicine, agriculture, industrial products, etc. It has achieved rapid development, and has gradually become a hot topic in various fields [1,2]. Literature [5] analysed the positive and negative solutions of the kinematics of the robotic with threedimensional simulation technology and established the visual interface of the robotic arm sorting system, and realised the robotic operation simulation. Literature [11] proposed the inverse solution method and robot calibration technology to realise the eye-in-hand calibration of the robot arm. The methods do not use robot operating system (ROS) for simulation and physical robot communication for its research work
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