Keywords
Robotic arm
Path optimization
Trajectory interpolation
Submitted : 2026-01-14
Accepted : 2026-01-29
Published : 2026-02-13
Abstract
Focusing on the research issues of path optimization and collision avoidance in robotic arm motion planning, this paper will construct a high-fidelity simulation environment using the ROS2 framework. By integrating MoveIt, Rviz visualization tool packages, and the Panda robotic arm URDF file, along with leveraging the DDS communication mechanism of ROS2, low-latency data interaction between the planning module and the simulation environment is achieved. The upper computer software is developed to conduct simulation studies on the path planning and trajectory interpolation principles of the robotic arm, thereby verifying the reliability of the ROS2 distributed architecture in robotic arm simulation.
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