基于ROS的四轴机械臂运动仿真与控制的研究  

Motion simulation and control of a four DOF manipulator based on ROS

作　　者：张松伟 冯常[1] ZHANG Song-wei;FENG Chang(Institute of Optics and Electronics of CAS,Chengdu 610209,China;University of Chinese Academy of Science,Beijing 100049,China)

机构地区：[1]中国科学院光电技术研究所,四川成都610209 [2]中国科学院大学,北京100049

出　　处：《电子设计工程》2018年第10期124-128,共5页Electronic Design Engineering

摘　　要：通过对当今机械臂仿真平台的探索,提出基于ROS操作系统的机械臂仿真与控制的研究方法,结合ROS操作系统的优势,对四轴机械臂进行运动规划和控制研究。在Solid Works中通过sw2urdf插件将机械臂模型转换为URDF文件,在可视化工具rviz中显示三维模型,在gazebo仿真器中添加传感器和障碍物模型,使用Moveit!完成机械臂的运动规划,通过相关工具获得机械臂运动过程中各关节位置、速度等信息,实现机械臂在仿真环境中的运动,并对如何控制实际机械臂这一问题做了一定的研究。Through the exploration of the mechanical arm simulation platform,we proposed a solution of manipulator＇s simulation and control based on ROS. According to the advantages of ROS,we can make a research for a four-axis robot arm on motion planning and controlling. Firstly,we transform the mechanical arm model into URDF files through the sw2 urdf plug-in,and the 3 D model is displayed in the rviz. Next,we add sensors and obstacle models to the gazebo emulator. Finally,we complete the motion planning of the manipulator with Moveit! to realize the movement of robot arm in the simulation environment,and we obtain the position、velocity and other information of joints by some related tools.Besides,we have done a lot of research on how to control the actual mechanical arm.

关 键 词：机械制造自动化 运动规划 ROS Gazebo 

分 类 号：TN99[电子电信—信号与信息处理]