| 移动机械臂整体控制研究 |
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| 引用本文： | 陈庄浩,孙亦劼,蒋文萍,江永林.移动机械臂整体控制研究[J].上海应用技术学院学报,2020,20(2):147-152. |
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| 作者姓名： | 陈庄浩 孙亦劼 蒋文萍 江永林 |
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| 作者单位： | 上海应用技术大学 电气与电子工程学院, 上海 201418 |
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| 基金项目： | 国家自然科学基金(61703279)；上海应用技术大学大学毕业设计重点课题(LW190015)资助 作者简介: 陈庄浩(1996- ),男,助理工程师,本科,主要研究方向为机器人的应用研究。 E-mail:1249582423@qq.com 共同 |
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| 摘 要： | 针对以固定的基坐标系机器人抓取不便,设计了一套移动机械臂整体,将一种以STM32为主控单元的六自由度机械臂,安装在配备有Kinect传感器的TurtleBot2移动机器人之上。通过TurtleBot2移动机器人及Kinect传感器实现的路径规划、环境地图构建和避障等功能,来控制六自由度机械臂的运动,配合机械臂的手动抓取和自动抓取,进行移动机器人与机械臂的协同运动控制。
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| 关 键 词： | 六自由度机械臂 Kinect传感器 Turtlebot2移动机器人 协同运动控制 |
| 收稿时间： | 2019/11/14 0:00:00 |
Research on the Overall Control of Mobile Manipulator |
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| CHEN Zhuanghao,SUN Yijie,JIANG Wenping,JIANG Yonglin.Research on the Overall Control of Mobile Manipulator[J].Journal of Shanghai Institute of Technology: Natural Science,2020,20(2):147-152. |
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| Authors: | CHEN Zhuanghao SUN Yijie JIANG Wenping JIANG Yonglin |
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| Institution: | School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China |
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| Abstract: | For the inconvenience of long-distance grabbing by rooots with a fixed base coordinate sysem, set of mobile robotic arm was designed, and a six-degree-of-freedom manipulator with STM32 as the main control unit was installed on the TurtleBot2 mobile robot equipped with Kinect sensor. The path planning, environmental map construction and obstacle avoidance functions, realized by the TurtleBot2 mobile robot and Kinect sensor, were employed to control the movement of the six-degree-of-freedom manipulator. Combining with the manual grasping and automatic grasping, cooperative motion control of mobile robot and manipulator was realized. |
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