7自由度机械臂轨迹规划代码

以下是一个简单的7自由度机械臂轨迹规划代码示例，基于Python语言和ROS框架：

import rospy
import math
import numpy as np
from geometry_msgs.msg import Pose
from sensor_msgs.msg import JointState
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
from moveit_msgs.srv import GetPositionIK, GetPositionIKRequest

class TrajectoryPlanner:
    def __init__(self):
        self.joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint_7']
        self.current_joints = None
        self.planning_time = 10.0
        self.step_size = 0.01
        self.jump_threshold = 0
        self.ik_service = rospy.ServiceProxy('/compute_ik', GetPositionIK)
        self.pub_traj = rospy.Publisher('/joint_trajectory', RobotTrajectory, queue_size=10)

    def plan_path(self, start_pose, end_pose):
        start_joints = self.compute_joints(start_pose)
        end_joints = self.compute_joints(end_pose)
        waypoints = self.interpolate(start_joints, end_joints)
        trajectory = self.create_trajectory(waypoints)
        self.pub_traj.publish(trajectory)

    def compute_joints(self, pose):
        ik_request = GetPositionIKRequest()
        ik_request.ik_request.group_name = 'arm'
        ik_request.ik_request.ik_seed_state.joint_state.name = self.joint_names
        ik_request.ik_request.ik_seed_state.joint_state.position = self.current_joints
        ik_request.ik_request.pose_stamped = pose
        ik_response = self.ik_service(ik_request)
        return ik_response.solution.joint_state.position

    def interpolate(self, start_joints, end_joints):
        waypoints = []
        for t in np.arange(0.0, 1.0, self.step_size):
            joints = []
            for i in range(len(start_joints)):
                s = start_joints[i]
                e = end_joints[i]
                if abs(e - s) <= math.pi:
                    j = s + t * (e - s)
                else:
                    if e > s:
                        e -= 2 * math.pi
                    else:
                        e += 2 * math.pi
                    j = s + t * (e - s)
                    if j < -math.pi:
                        j += 2 * math.pi
                    elif j > math.pi:
                        j -= 2 * math.pi
                joints.append(j)
            waypoints.append(joints)
        waypoints.append(end_joints)
        return waypoints

    def create_trajectory(self, waypoints):
        trajectory = RobotTrajectory()
        trajectory.joint_trajectory.joint_names = self.joint_names
        for waypoint in waypoints:
            point = JointTrajectoryPoint()
            point.positions = waypoint
            point.velocities = [0] * len(waypoints[0])
            point.time_from_start = rospy.Duration(self.planning_time / len(waypoints))
            trajectory.joint_trajectory.points.append(point)
        return trajectory

    def joint_state_callback(self, msg):
        self.current_joints = msg.position

if __name__ == '__main__':
    rospy.init_node('trajectory_planner')
    planner = TrajectoryPlanner()
    rospy.Subscriber('/joint_states', JointState, planner.joint_state_callback)
    start_pose = Pose()
    start_pose.position.x = 0.5
    start_pose.position.y = 0.0
    start_pose.position.z = 0.5
    start_pose.orientation.x = 0.0
    start_pose.orientation.y = 0.707
    start_pose.orientation.z = 0.0
    start_pose.orientation.w = 0.707
    end_pose = Pose()
    end_pose.position.x = 0.7
    end_pose.position.y = 0.2
    end_pose.position.z = 0.3
    end_pose.orientation.x = 0.0
    end_pose.orientation.y = 0.0
    end_pose.orientation.z = 0.0
    end_pose.orientation.w = 1.0
    planner.plan_path(start_pose, end_pose)
    rospy.spin()

这是一个简单的轨迹规划器，可以连接到机械臂的ROS节点上，通过输入起始和结束位姿来规划机械臂的运动轨迹。它使用ROS提供的MoveIt库来进行逆运动学求解和轨迹规划。在实际应用中，还需要考虑机械臂的动力学和碰撞检测等因素。