摘要
在ROS平台下,建立移动操作臂的URDF模型文件,并通过Move It!配置助手生成移动操作臂运动规划的配置及启动文件。通过ROS平台下移动平台的自主导航功能包和实现机械臂运动规划的Motion Planning插件共同完成移动操作臂的运动规划。通过分析运动规划过程中机械臂各关节的运动信息,验证运动规划结果的合理性。
Based on ROS a URDF file of the mobile manipulator is established. Using Move It! setup assistant makes it easy to configure the mobile manipulator for the motion planning. With the autonomous navigation feature pack of the mobile platform and the motion planning plugin for motion planning, we can accomplish the motion planning based on ROS. Through analyzing a set of joint information in the course of mobile manipulator＇s motion planning, we can verify the rationality of the motion planning＇s result.
作者
陈飞
王振华
陈国栋
谢树新
Chen Fei;Wang Zhenhua;Chen Guodong;Xie Shuxin(College of Mechanical and Electric Engineering, Soochow University, Suzhou 215006, China)
出处
《煤矿机械》
北大核心
2018年第6期36-38,共3页
Coal Mine Machinery
基金
国家自然科学基金(U1509202)
关键词
移动操作臂
自主导航
运动规划
ROS
mobile manipulator
autonomous navigation
motion planning
ROS
