基于ROS的工业机器人轨迹规划和仿真  

Trajectory Planning and Simulation of Industrial Robot Based on ROS

作　　者：李浩 郑智贞[1] 黄顺舟 杨富伟 刘泽宇 LI Hao;ZHENG Zhi-zhen;HUANG Shun-zhou;YANG Fu-wei;LIU Ze-yu(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Shanghai Aerospace Equipment Manufacturing Plant Co.,Ltd.,Shanghai 200245,China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]上海航天设备制造总厂,上海200245

出　　处：《组合机床与自动化加工技术》2018年第12期59-62,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对工业机器人轨迹规划算法实现困难、运动过程存在柔性冲击的难题,通过对主流机器人操作系统ROS(Robot Operating system)的研究,提出一种在ROS系统下的轨迹规划的方法。实现了六轴工业机器人在笛卡尔运动空间和关节空间理想的运动轨迹,通过优化的S形轨迹规划算法得到的关节速度、加速度、加加速度变化平滑,保证了机器人运动过程的快速平稳,有效降低了柔性冲击。并通过RViz对机器人进行仿真,仿真结果和关节角度曲线图符合预期效果,表明了此方法的可行性。Aiming at the difficulty of implementing the trajectory planning algorithm and the flexible impact of the motion process for industrial robots.Through the study of the ROS,the mainstream robot operating system,a method of trajectory planning in ROS system is proposed.The Six-axis industrial robot achieves the ideal trajectory in Cartesian space and joint space,Joint speed,acceleration,and jerk change smoothed by an optimized S-shaped trajectory planning algorithm,ensures the robot's rapid and smooth movement,effectively reduces the impact of flexible.And through the RVIZ simulation of the robot,Simulation results and joint angle curves are in line with expectations,indicating the feasibility of this method.

关 键 词：工业机器人 路径规划 S型轨迹 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]