基于ROS的六自由度机械臂运动规划  被引量:12

The motion planning of a six dof manipulator based on ROS platform

在线阅读下载全文

作  者:刘月祺 辛大欣[1] 华瑾[1] LIU Yueqi;XIN Daxin;HUA Jin(School of electronic information engineering,Xi'an Technological University,Xi'an Shanxi 710021,China)

机构地区:[1]西安工业大学电子信息工程学院

出  处:《自动化与仪器仪表》2020年第2期20-22,26,共4页Automation & Instrumentation

基  金:陕西省科技厅工业领域项目(No.2017GY-027)

摘  要:针对传统机器人在复杂环境下的安全问题以及运动规划问题,采用开源机器人操作系统ROS搭建了机器人仿真平台,并进行运动规划。在ROS平台下,利用URDF文件完成机械臂3D建模;利用Movelt配置助手(setup assistant)配置机械臂模型并且生成启动文件。在Rviz中显示三维模型;利用Movelt完成对六自由度机械臂的运动规划,以及避障轨迹规划。结果表明,通过Rqt_plot导出机械臂运动过程中六个关节的位置关系信息,可为进一步改善和研究机械臂轨迹规划提供更加直观的方法。In view of the safety problems and motion planning problems of traditional robots in complex environments,the open source robot operating system ROS is adopted to build the robot simulation platform,and the motion planning is carried out.In the ROS platform,3 D modeling of mechanical arm was completed by using URDF file.Making a series of configurations for the robot model with the Movelt setup Assistant,a startup file is generated.And the 3cl model was displayed in Rviz.Movelt is used to complete the motion planning of the six-degree-of-freedom manipulator and the obstacle avoidance trajectory planning.The results show that the velocity and position relationship of the six joints in the motion process of the manipulator can be derived by Movelt,which can provide a more intuitive method for further improvement and research on the trajectory planning of the manipulator.

关 键 词:机械臂 轨迹规划 ROS Movelt 

分 类 号:TP241[自动化与计算机技术—检测技术与自动化装置]

 

参考文献:

正在载入数据...

 

二级参考文献:

正在载入数据...

 

耦合文献:

正在载入数据...

 

引证文献:

正在载入数据...

 

二级引证文献:

正在载入数据...

 

同被引文献:

正在载入数据...

 

相关期刊文献:

正在载入数据...

相关的主题
相关的作者对象
相关的机构对象