基于ROS的笛卡尔空间机械手抓取运动仿真与试验  

Cartesian Space Manipulator Clamping Movement Simulation and Experiment in ROS

作　　者：穆龙涛 周云飞[2] Mu Longtao;Zhou Yunfei(School of Mechanical Engineering,Journal of Shaanxi Polytechnic Institute,Xianyang Shaanxi 712100,China;School of Mechatronic Engineering,Xian Technological University,Xi'an 710032,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000 [2]西安工业大学机电工程学院,陕西西安710032

出　　处：《陕西工业职业技术学院学报》2020年第2期5-9,共5页Journal of Shaanxi Polytechnic Institute

摘　　要：为了实现分拣作业的自动化,提高工件分拣的工作效率,本文针对机械臂分拣作业从顶部进行抓取作业特点,研究了基于ROS(Robot operation system)的机械臂分採位姿控制方法。通过ROS Movelt!模块对机械臂分拣位姿及运动路径进行了规划,实现了分拣机械臂逆运动学求解,对分拣机械臂的运动位姿特性进行了分析。使用Solid work s创建了机械臂模型,通过sw2urdf插件转换工具,导出了机械臂的URDF的模型文件,并进行了参数配置。基于ROS对6自由度机械臂进行了运动仿真,选取开源运动规划库(OMPL)中的随机扩展树算法(RRT)进行分拣机械臂的运动规划分析并驱动UR5机械臂。结果表明:通过对分拣机械臂分拣位姿进行了运动控制,确定了机械臂的分拣位姿和运动轨迹,得出了机械臂的工具端旋转的最大半径值和工件抓取的位置。该方法可提高工业分拣机器人抓取物体的成功率,对于机器人的自主抓取物体的研究具有重要意义。According to the characteristics of the picking from the bottom by robot,the position and pose control method of the picking manipulator based on ROS is researched.The picking posture and motion path of the manipulator are planned,the inverse kinematics of the picking manipulator is solved,and the movement posture characteristics of the picking manipulator are simulated and analyzed through ROS Movelt!module.The model of the manipulator is created by Solidworks software.The URDF model file of the manipulator is derived by sw2urdf plugin conversion tool,and the parameters of the manipulator model are configured.Based on ROS,the motion simulation of a 6-DOF manipulator is carried out.Rap id-exploration Random Tree(RRT)algorithm in the Open Motion Planning Library(OMPL)is selected to analyze the motion planning of the picking manipulator and drive the UR5 manipulator.The results show that the pose and trajectory of the picking manipulator are determined by controlling the movement of the picking manipulator,and the maximum radius of the rotation of the end effector and the position of the separation point are determined.This method was improved the success rate of industrial sorting robots'grasping objects,and is of great significance for the research of robots autonomous grasping objects.

关 键 词：工业机械臂 UR5 RS 笛卡尔空间 运动学仿真 

分 类 号：TP391.[自动化与计算机技术—计算机应用技术]