摘要
为了简化机器人编程,在对双臂机器人编程语言和人类操作语言分析的基础上对双臂机器人的直观编程方法进行了研究,提出了双臂机器人编程框架.该双臂机器人编程框架是基于面向服务的体系结构,在ROS中开发,同时被应用于组装案例中.结果表明,该编程框架可以轻松和双臂机器人平台进行交互,降低了编程的复杂性,节省了编程的时间,可供非专业人员使用.
In order to simplify robot programming,based on the analysis of double-arm robot programming language and human operation language,this paper studies the intuitive programming method of the double-arm robot,and puts forward the programming framework of the double-arm robot.The programming framework is based on the service-oriented system and structure and applied to assembly cases in ROS development.The results show that the framework can easily interact with the double-arm robot platform,reduce the complexity of programming,save the programming time,and can be used by non professionals.
作者
张春芳
张传俊
李艳华
ZHANG Chunfang;ZHANG Chuanjun;LI Yanhua(College of Applied Engineering,Anhui Business and Technology College,Hefei Anhui 231131,China)
出处
《鞍山师范学院学报》
2020年第2期1-4,共4页
Journal of Anshan Normal University
基金
安徽省高校优秀青年人才支持计划项目(gxyq2017175)
安徽省自然科学基金研究项目(KJ2017B002,KJ2019A1168).
关键词
双臂机器人
编程框架
组装
Double-arm robot
Programming framework
Assembly
