基于ROS的桌面机器人轨迹规划仿真研究

Trajectory Planning and Simulation Research of Desktop Manipulator Research Based on ROS

针对自主研发的桌面6轴机器人,建立其六自由度机器人模型,转换成URDF文件并导入ROS系统,配置机器人轨迹规划功能文件,然后在Rviz中利用MotionPlanning核心功能进行运动规划研究,并着重分析其中RRT轨迹规划算法,运用Moveit!进行笛卡尔空间内直线轨迹和圆弧轨迹规划,最终对所规划空间轨迹进行三次样条插值,速度和加速度曲线结果满足机器人控制要求,为进一步机器人精确控制提供基础。

For the desktop 6-axis robot arm developed by myself,a robot coordinate system model built by Solidworks a 3D-design soft-ware is converted to a URDF file and imported into the ROS system.The trajectory planning package is configured by the Moveit!Setup Assistant,including the controllers and the launch files,etc.,use MotionPlanning plugin to complete motion plan-ning in Rviz,and focus on analyzing RRT trajectory planning algorithm,using Moveit!tool.The paper studies linear trajectory and circular trajectory planning in Cartesian space.Finally,cubic spline interpolation is performed on the planned spatial trajecto-ry.The results of velocity and acceleration curves prove that the control requirements of the manipulator are met.The paper pro-vides a basis for further precise control of the manipulator.