Trajectory Planning and Simulation of Redundant Degree of Freedom Robotic Arm Welding System Based on Robot Operating System

Redundant degree-of-freedom robotic arms can increase the flexibility and adaptability of robots in welding tasks, and improve their ability to work in complex or restricted spaces, but the research of system trajectory planning and other issues are facing great challenges. Based on redundant degree of freedom robotic arm trajectory planning and simulation, this paper exports URDF file first by solidwork model, loads the physical model to clarify whether it is in line with the specific circumstances of the welding robot system, import the Moveit setup assistant, generate configuration files to write the motion planning program, obtain a series of path points and use linear interpolation algorithm to generate smooth trajectories, so that the end effector moves in a semi-circular motion at the bevel and swings along the sinusoidal curve at the same time, and on the way back, the TRRT algorithm is utilized for route planning and obstacle avoidance checking. In this paper, the RVIZ tool in Robot Operating System (ROS) is used to load the robot model and the environment scene for the display and visualization of the path, and the results show that the method provides a simple and feasible path planning solution that enables the robot to efficiently plan and perform complex tasks, and provides the possibility of robot learning research on the ROS platform.