Trajectory Planning And System Simulation Of SCARA Robot Based On ROS

In recent years,with the rapid development of China's manufacturing industry,the market demand for industrial robots has also expanded rapidly.The continuous research on the field of robots in China has greatly improved our robot technology.SCARA robot,as a kind of industrial robot,which can be used in many fields such as handling,assembling,welding and testing,has the characteristics of simple structure,high precision,fast speed,small volume and strong flexibility.It has been widely used in industrial automation production line in our country.However,the improvement of automation level and the complexity of the operation environment in modern industrial manufacturing put forward new requirements for the research of SCARA robot in China.In this paper,the overall scheme,kinematics,system simulation platform,trajectory planning and motion simulation experiment of SCARA robot are studied as the following.The overall scheme of the robot is desinged from two aspects,which are the mechanical structure and the motion control system.The three-dimensional model of the robot and the drawing of the motion control system block diagram are completed.The representation method of the rigid position posture and the transformation of the homogeneous coordinates are studied.The kinematics modeling of the robot is completed by using the D-H parameter method.The kinematics and inverse kinematics of the SCARA robot are analyzed.Based on the ROS system and the Rviz 3D visualization tool,the model of the robot is set up with the URDF file.The visual operation display of the SCARA robot is realized with the aid of Rviz.The simulation platform of the SCARA robot is established and the motion control of the robot is simulated.In the joint space,the five polynomial interpolation algorithm and the linear interpolation algorithm of parabolic transition are studied.In Cartesian space,the linear trajectory planning and the arc trajectory planning algorithm are studied.The trajectory planning model is established,and the joint trajectory of SCARA robot is simulated.Based on the quaternion algorithm,the attitude planning of the robot end executor is realized and the trajectory planning of the SCARA robot is completed.Finally,based on the established SCARA robot simulation platform and the trajectory planning model,the robot motion simulation experiment is completed.The motion of the line and arc trajectory of the SCARA robot and the obstacle avoidance test based on the RRT algorithm are realized,and the number of motion parameters of each joint of the robot is drawn and analyzed with MATLAB.This paper lays the foundation for the motion control of robots in practical applications.