基于ROS的机器人等离子切割板坯毛刺运动规划

ROS-Based Robot Plasma Cutting Slab Burr Motion Planning

针对钢铁行业现有板坯毛刺去除方法(如刮刀式去除法和锤刀式去除法)无法满足去毛刺质效的需要,提出了一种机器人等离子去板坯毛刺的新方法,并在ROS框架下进行了运动轨迹规划的研究。首先构建机器人URDF模型,使用Ubuntu终端命令及RVIZ进行可视化检验;其次配置及启动MoveIt控制平台及其功能插件;最后通过Python运动规划程序执行机器人等离子切割任务,利用MoveIt调用的OMPL开源运动规划算法进行轨迹规划,并使用rqt_plot插件进行轨迹规划分析。结果表明:该研究方法便捷有效,能完整地模拟机器人等离子切割运动轨迹规划的过程,为机器人等离子切割开源平台的开发提供了支持,对工业机器人在ROS下的应用研究具有科学价值。

For the steel industry,the existing slab burr removal methods,such as scraper removal and hammer removal,cannot meet the need for deburring such as hammer scraper method and cutting,and unable to meet the needs of deburring,a new method for the burr of the robot plasma to remove the slab was proposed,and the simulation design of the workstation was carried out by using the ROS.Firstly,the URDF model of plasma cutting robot should be constructed and the ubuntu terminal and RVIZ plug-ins can be used to test the model. Then it started the MoveIt platform and plug-in.Finally,the Python motion planning program was used to perform the plasma robot cutting task. Theprogram code used the OMPL open source motion planning algorithm called by MoveIt for trajectory planning,and used the rqt_ plot plug-in for trajectory planning analysis. The results show that the method is convenient and effective,and can fully simulate the process of trajectory planning for plasma cutting robots. It has important scientific value for the application research of industrial robots in ROS.