摘要
针对工业机器人模型构建复杂、轨迹规划算法实现困难、功能单一等问题,采用开源机器人操作系统搭建机器人控制系统,并对机器人的运动规划进行仿真和试验验证.首先利用SolidWorks软件创建机器人的统一机器人描述格式模型,并对其进行Moveit!功能包的配置;然后进行机器人空间直线和空间圆弧的轨迹规划,依据ROS的开放式运动规划库,生成空间轨迹的路径点信息;最后对路径点信息进行三次样条插值,并将插值后的数据通过EtherCAT总线下发给伺服驱动器,从而控制机器人实际运动.试验结果表明,机器人各关节运动轨迹平稳,精度较高,为机器人的实际运动规划提供了参考.
This paper aims to solve problems with industrial robot models,including complexity of building a model for industrial robots,difficulty in implementing trajectory planning algorithms,and single function.Open source robot operating system-ROS was used to build a robot control system,and the robot motion planning was simulated and experimentally verified.Firstly,SolidWorks software was used to create URDF model for the robot and configure it with the Moveit!function package.Then the robot space straight line and space arc trajectory planning were completed.The path point information of the space trajectory was generated according to the OMPL motion planning library of the ROS system.Finally,it is essential to perform cubic spline interpolation on the path point information,and send the interpolated data to servo drivers through EtherCAT bus to control the actual robot movement.The experimental results show that the motion trajectory of each joint of the robot is stable and the accuracy is high,which provides a method for actual motion planning of robots.
作者
王旭
朱晓春
刘汉忠
唐鹏
徐天
WANG Xu;ZHU Xiao-chun;LIU Han-zhong;TANG Peng;XU Tian(School of Automation, Nanjing Institute of Technology, Nanjing 211167, China)
出处
《南京工程学院学报（自然科学版）》
2022年第1期21-26,共6页
Journal of Nanjing Institute of Technology(Natural Science Edition)
基金
2021年江苏省大学生实践创新训练计划(202111276080Y)。
