Path Planning and Motion Control of Robotic Arm Based on ROS

This paper mainly discusses a path planning and motion control solution of Robot arm based on Robot Operating System (ROS). Based on the in-depth analysis and integration of advantages and disadvantages of RRT algorithm and its various optimization variants, this study relies on the core principle of RRT algorithm and integrates a variety of advanced methods such as dynamic step optimization mechanism, goal-oriented node expansion strategy, primary path optimization technology. Then a new path planning algorithm based on the combination of RRT and curve fitting technology-LT-RRT algorithm is developed. The algorithm is tested on the MATLAB platform for solving path nodes in two-dimensional and three-dimensional complex obstacle environments, and the effectiveness of the LT-RRT algorithm in improving performance is verified through comparative testing. The experimental results show that the improved algorithm has significantly improved the obstacle avoidance performance of path planning in various obstacle Spaces, and the path smoothness has also been effectively improved. This research result provides important technical support and theoretical reference for the application of intelligent motion planning of robot arm in the field of industrial automation in the future.