一种基于ROS系统的机械臂设计与仿真

Design and Simulation of a Manipulator Based on ROS System

随着机械臂在工业生产中效益的增加,针对机械臂的研究得到了人们更多的重视。笔者基于开源操作系统ROS设计一款常用机械臂模型,对其进行建模和仿真。通过编写机械臂特征代码生成模型文件,将模型文件导入ROS的工具包MoveIt中生成运动规划功能包,用于后期运动规划控制和模型可视化。通过在ROS中配置控制器插件,可以实现Gazebo仿真环境中该机械臂的轨迹规划。通过仿真实验,验证了模型和轨迹规划算法的正确性。

With the increase in the benefits of robotic arms in industrial production, the research on robotic arms has received more attention. The author designs a commonly used manipulator model based on the open source operating system ROS, and then models and simulates it. The model file is generated by writing the feature code of the robotic arm, and the model file is imported into the ROS toolkit MoveIt to generate a motion planning function package for later motion planning control and model visualization. By configuring the controller plug-in in ROS, the trajectory planning of the robotic arm in the Gazebo simulation environment can be realized. The simulation experiment verifies the correctness of the model and the trajectory planning algorithm.