ROS Based Obstacle Avoidance Motion Planning of UR5 Manipulator
- Resource Type
- Conference
- Authors
- Huang, Tianqi; Xu, He; Liu, Ding
- Source
- 2021 IEEE International Conference on Networking, Sensing and Control (ICNSC) Networking, Sensing and Control (ICNSC), 2021 IEEE International Conference on. 1:1-6 Dec, 2021
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Tracking
Software packages
Operating systems
Process control
Manipulators
Robot sensing systems
Planning
ROS
UR5 manipulator
obstacle avoidance motion planning
RRT algorithm
- Language
The main work of the paper focuses on kinematic analysis modeling and obstacle avoidance motion planning based on a UR5 manipulator. It uses the software package MoveIt to generate various configuration files and startup files required for motion planning on Robot Operating System (ROS) platform. Through plug-ins of Python and Rviz, it accesses MoveIt and generates an obstacle environment. Then, it calls the Open Motion Planning Library to plan the motion of the UR5 manipulator, which is frequently used in both academic and industrial fields. The paper analyzes the widely used Rapidly-exploring Random Trees (RRT) algorithm and the improved RRT-connect algorithm by conducting a couple of motion planning experiments in an obstacle environment. It illustrates the experimental results of two different algorithms and compares their respective performances. Therefore, it sorts out the experiment process and the experimental results to provide ideas for the further improvement of motion planning of UR5 or other manipulators.