基于ROS平台的六自由度机械臂运动规划

The Motion Planning of a Six DOF Manipulator Based on ROS Platform

在SolidWorks环境中建立六自由度机械臂模型,使用sw2urdf插件导出简化机械臂模型URDF文件.在ROS平台下,通过MoveIt!功能包得到机械臂运动规划需要的配置及启动文件等,在RViz可视化环境中利用MotionPlanning插件完成运动规划,其规划算法基于随机采样原理的OMPL完成,并着重分析了其中用于复杂动力学系统的KPIECE算法.针对复杂环境下的机械臂运动规划问题,基于ROS利用机械臂3D模型实现其虚拟控制,通过ROS工具导出机械臂运动过程中各关节位置、速度等信息,可为进一步分析和改进规划算法提供更加直观的方法.

To establish the six DOF manipulator model in the SolidWorks and get a simplified model with the sw2 urdf plugin.Using MoveIt!setup assistant makes it easy to configure the manipulator for motion planning based on ROS.We can accomplish the motion planning in RViz with MotionPlanning plugin based on OMPL which consists of many sampling-based motion planning algorithms and analyse the KPIECE algorithm that is specifically designed for systems with complex dynamic.Considering the manipulator's motion planning in complex environment,using ROS-based 3D model can realize the virtual control and get a set of joint information about position,speed,effort and so on,so we can make more analysis and improvement about the motion planning algorithms.