基于ROS的移动机械臂控制实验教学设计

On ROS-Based Experimental Teaching Design of Mobile Manipulator Control

针对机器人工程专业四年级学生开设的机器人定位与导航技术实验课程,依据专业培养方案循序渐进地设计了基于ROS的移动机械臂定位与导航实验项目。从ROS通讯及关键组件的认知、URDF模型的描述和建模,到运用激光雷达技术构建移动机械臂运动环境地图,并基于地图利用路径规划算法完成移动机械臂导航和避障实验。通过项目式实验教学实践,表明该教学设计能让学生更好地理解并掌握机器人定位与导航的相关理论知识,增强了学生实践动手能力,为新工科背景下培养高质量的机器人工程专业人才奠定基础。

For the experimental course of robot positioning and navigation technology offered by fourth-year students majoring in robotics engineering,the ROS-based mobile robot arm positioning and navigation experimental project was designed step by step according to the professional training plan.From ROS communication and the cognition of key components,the description and modeling of the URDF model,the use of lidar technology to construct a mobile robotic arm motion environment map,and based on the map,the path planning algorithm is used to complete the mobile robotic arm navigation and obstacle avoidance experiments.Through the project-based experimental teaching practice,it is shown that the teaching design can enable students to better understand and master the relevant theoretical knowledge of robot positioning and navigation,enhance students'practical ability,and lay the foundation for cultivating high-quality robot engineering professionals under the background of new engineering.