基于ROS的六自由度机械臂运动规划

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。

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

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.