ROS环境下的机器人仿真模型构建方法研究  

Construction method of robot simulation model in ROS environment

作　　者：鹿霖[1,2] 谢树新[1] LU Lin;XIE Shuxin(School of Mechanical and Electric Engineering,Soochow University,Suzhou 215021,China;Suzhou Institute of Industrial Technology,Suzhou 215104,China)

机构地区：[1]苏州大学机电工程学院,江苏苏州215021 [2]苏州工业职业技术学院,江苏苏州215104

出　　处：《现代电子技术》2018年第7期102-105,110,共5页Modern Electronics Technique

摘　　要：在众多的机器人仿真平台中,ROS可以封装机器人硬件。提出在ROS环境下构建机器人的仿真模型方法。设计了机器人仿真模型的导入方法及过程,利用所提方法将模型导入具体的应用实例。将Solid Works装配文件解析成机器人模型的URDF文件,并在Move It!中进行验证。结果表明,该仿真模型构建的方法是有效的,模型是可操作的,为后续的机器人运动规划和轨迹规划问题的研究提供了易实现和易操作的机器人模型。Among many robot simulation platforms,the robot operating system(ROS)can encapsulate the robot hardware.A construction method of robot simulation model in ROS environment is proposed.The import method and process of the robot simulation model are designed.The model is imported into a specific application instance by using the proposed method.The SolidWorks assembly file is parsed into the URDF file of the robot model.The model is verified in MoveIt!.The results show that the construction method of the simulation model is effective,and the model is operable.This method provides a robot model with easy implementation and easy operation for the follow?up research of robot motion planning and trajectory planning.

关 键 词：机器人仿真 机器人建模 开源操作系统 仿真模型 运动规划 轨迹规划 

分 类 号：TN98-34[电子电信—信息与通信工程] TP391.9[自动化与计算机技术—计算机应用技术]