非结构环境下机械臂避障运动规划

Obstacle Avoidance Motion Planning of Robot Arm in Unstructured Environment

针对传统机器人在非结构环境下的安全问题以及运动规划问题,提出了一种基于ROS环境的机械臂避障方法。利用SoildWorks创建机械臂简要模型,使用sw2urdf插件导出URDF模型文件,创建Xacro文件,并在其中添加RGBD相机,然后配置Moveit和Gazebo联合控制系统,在Gazebo中利用相机识别障碍物并传到Rviz,通过点云数据构造OctoMap空间概率地图,最后使用RRT*(RRTstar)算法实现机械臂在障碍物下的实时避障。

In view of the safety problems and motion planning problems of traditional robots in unstructured environments,a method of obstacle avoidance for manipulators based on ROS environment is proposed.Use SoildWorks to create a brief model of the robotic arm,use the sw2urdf plug-in to export the URDF model file,create an Xacro file,and add an RGBD camera to it,and then configure the Moveit and Gazebo joint control system.In Gazebo,the camera is used to identify obstacles and transmitted to Rviz,and the OctoMap spatial probability map is constructed from the point cloud data.Finally,the RRT*(RRTstar)algorithm is used to realize the real-time obstacle avoidance of the robot arm under obstacles.