Abstract
This paper deals with motion planning of a 5-DOF anthropomorphic robotic arm. The CAD model of the robot is built and converted into a URDF file for the simulation with the ROS platform. Sequentially, the motion planning of the manipulator is completed through the MoveIt! Package. The motion process is observed in RViz, with the planned result being transmitted to the servo controller to drive the real robotic arm to reach to the target point. Moreover, the extraction and matching of key feature points based on SIFT algorithm is studied for object detection to obtain the coordinates of the targeted object, in order to realize the pick-and-place operation for the material handling.
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Zhang, S., Lin, Z., Wu, G. (2020). Motion Planning of a 5-DOF Anthropomorphic Robotic Arm Under ROS Environment. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_40
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DOI: https://doi.org/10.1007/978-981-15-0142-5_40
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