Aiming at the present situation that current industrial mechanical arm is not suitable for extensive education industry and is not open source

a mechanical arm system with simple structure

low cost and high reliability is designed. Raspberry Pi 3 B + with ROS operating system is adopted as the core of the main control system. 3 D model for mechanical arm is displayed by Rviz visual tool and Moveit is used to complete the trajectory planning. The stability of the six-axis manipulator is improved by introducing double closed-loop speed regulation system of rotating speed

current. The implementation of the experimental platform of the lightweight manipulator reduces the system complexity

realizes the portability of the control system

and makes the control mode simple.The experimental results show that the ROS system is not only simple to control but also stable to complete the action.