The Design of Robotic Arm Based on ROS

In this paper, the design of a ROS-based robotic arm is introduced from three aspects: structure, hardware and software. In order to reduce the mass of the entire robotic arm, the connecting rod of the robot arm is mainly made of carbon fiber material. Different loads lead to a decline in the control accuracy of the joint angle of the robotic arm. To solve this problem, we added a gravity compensation system to the control system of the robotic arm. In addition, we designed a software framework that can be widely used in various robotic arm systems. Finally, we carried out a test experiment on the robotic arm.