基于ROS的机械臂模型构建及优化方法研究作者:陈永平 何永艳 王凯凯来源:《微型电脑应用》2020年第02期阳光天井>离心喷雾干燥塔
伴热管线
水性涂料分散剂
摘 要: 机械臂建模是开源机器人操作系统ROS的应用基础,为提高机械臂运动规划、仿真的效率,研究了基于ROS的机械臂模型URDF文件的构建方法,并采用常量定义、宏定义、文件包含等方法对URDF文件进行了精简、优化,同时介绍了一种利用三维模型生成URDF文件的方法。结果证明,经过优化的模型可参数化地进行修改,便于二次开发,优化方法大大提高了机械臂模型构建的效率,为后续利用MoveIt、Gazebo工具对机械臂进行路径规划、仿真等操作提供了便利。
关键词: 机械臂建模; 机器人操作系统; 模型优化
中图分类号: TP391.9; TP242.2 ; ; ;文献标志码: A
Research on Modeling and Optimizing Method of辐照灭菌设备
Robotic Manipulator Based on ROS
CHEN Yongping, HE Yongyan, WANG Kaikai
(Department of Mechanical and Energy Engineering, Shanghai Technical Institute of
自动垃圾桶 Electronics & Information, Shanghai 201411)
Abstract: Manipulator modeling is the application foundation of ROS. In order to improve the efficiency of manipulator motion planning and simulation, this paper studies the construction method of URDF file of manipulator model based on ROS, and simplifies and optimizes the URDF file by constant definition, macro definition, file inclusion and so on. At the same time, a method of URDF file generation using three-dimensional model is introduced. The results show that the optimized model can be parameterized and modified to facilitate secondary development. The optimized method greatly improves the efficiency of the manipulator model construction, and provides convenience for subsequent manipulation such as path planning and simulation using MoveIt, Gazebo tools.