基于ROS的工业机器人运动规划仿真及试验

针对工业机器人模型构建复杂、轨迹规划算法实现困难、功能单一等问题,采用开源机器人操作系统搭建机器人控制系统,并对机器人的运动规划进行仿真和试验验证.首先利用SolidWorks软件创建机器人的统一机器人描述格式模型,并对其进行Moveit!功能包的配置;然后进行机器人空间直线和空间圆弧的轨迹规划,依据ROS的开放式运动...

Motion Planning Simulation and Experiment of Industrial Robots Based on ROS

This paper aims to solve problems with industrial robot models, including complexity of building a model for industrial robots, difficulty in implementing trajectory planning algorithms, and single function. Open source robot operating system-ROS was used to build a robot control system, and the robot motion planning was simulated and experimentally verified. Firstly, SolidWorks software was used to create URDF model for the robot and configure it with the Moveit! function package. Then the robot space straight line and space arc trajectory planning were completed. The path point information of the space trajectory was generated according to the OMPL motion planning library of the ROS system. Finally, it is essential to perform cubic spline interpolation on the path point information, and send the interpolated data to servo drivers through EtherCAT bus to control the actual robot movement. The experimental results show that the motion trajectory of each joint of the robot is stable and the accuracy is high, which provides a method for actual motion planning of robots.