基于ROS的六自由度机械臂轨迹规划  

Trajectory Planning of 6-DOF Manipulator Based on Robot Operating System

作　　者：刘磊[1] 宁祎[1] LIU Lei;NING Yi(Robot Research Institute,Henan University of Technology,Zhengzhou 450007,China)

机构地区：[1]河南工业大学机器人研究所,郑州450007

出　　处：《自动化与仪表》2018年第3期22-25,51,共5页Automation & Instrumentation

摘　　要：针对传统机器人仿真平台面向特定对象时,模型构建复杂、功能单一等问题,采用开源机器人操作系统ROS搭建了机器人仿真平台,并进行了轨迹规划。利用Solid Works创建六自由度机械臂模型,使用sw2urdf插件导出模型文件;在ROS平台下,通过MoveIt!功能包创建机械臂轨迹规划需要的配置和启动文件,在Rviz中显示三维模型;利用MoveIt!提供的C++相关API,在该平台上对六自由度机械臂进行笛卡尔空间的直线圆弧轨迹规划,分析其各关节角度变化和末端插补误差。结果表明,机械臂各关节运行轨迹平滑,末端位置精度满足要求。When the traditional robot simulation platform faces the specific object,the model construction is complex and the function is single,the robot simulation platform is built by using the open source robot operating system ROS,and the trajectory planning is carried out.Using SolidWorks to create a 6-DOF manipulator model,use the sw2urdf plug-in to export model files.In the ROS platform,MoveIt!functional package is used to create the configuration and startup files needed for the mechanical arm trajectory planning,and displays the 3d model in Rviz.Using the C++API of MoveIt!to make linear and arc trajectory planning of the six DOF robot arm in Cartesian space on the platform,analyzed the angle change of each joint and the error of end interpolation.Simulation results show that the robot can achieve smooth motion along the planning trajectory and the end position accuracy meet requirements.

关 键 词：机械手 六自由度机械臂 轨迹规划 机器人操作系统 MoveIt! 仿真平台 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]