A New Approach to Developing General Manipulator Control System Application Based on ROS

EasyChair Preprint 1220

Abstract

This paper proposes a new approach to developing control applications for general manipulator using the open source robot operating system (ROS) as the platform. The tool MoveIt! is used to complete the task of the motion planning and the motion data transmission between client and server is realized by setting up the relevant nodes. In combination with the experiment, this paper explains the model building of the robot with a specific manipulator and the motion data is processed by quintic polynomial interpolation algorithm to improve the stability of the manipulator. According to the above methods, it can realize the control of different types of manipulators on the market not specifically referring to certain structures and provides a new way for cross-platform control of robots.

Keyphrases: MoveIt, Quintic Polynomial Interpolation, ROS, manipulator

@booklet{EasyChair:1220,
  author    = {Xuedong Jing and Yuquan Xue and Ya'Nan Chen},
  title     = {A New Approach to Developing General Manipulator Control System Application Based on ROS},
  howpublished = {EasyChair Preprint 1220},
  year      = {EasyChair, 2019}}