CN106846468B - Method for realizing mechanical arm modeling and motion planning based on ROS system - Google Patents
Method for realizing mechanical arm modeling and motion planning based on ROS system Download PDFInfo
- Publication number
- CN106846468B CN106846468B CN201710056239.4A CN201710056239A CN106846468B CN 106846468 B CN106846468 B CN 106846468B CN 201710056239 A CN201710056239 A CN 201710056239A CN 106846468 B CN106846468 B CN 106846468B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- motion
- model
- coordinate system
- ros
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention provides a method for realizing mechanical arm modeling and motion planning based on an ROS system, which mainly comprises the following steps: 1. drawing three-dimensional models of all parts of the mechanical arm; 2. establishing and storing a coordinate system of a three-dimensional model of each part of the mechanical arm; 3. compiling an XML-based mechanical arm description file; 4. calculating mechanical arm motion planning based on the ROS system; 5. and system communication and mechanical arm motion control are realized. The method can quickly establish a kinematics model and a dynamics model of the mechanical arm, call a corresponding motion planning library to realize the motion planning of the robot by combining with a Moveit module of the ROS system, and finally send the motion planning resolving result to a motion control module of the mechanical arm, thereby realizing the actions of positioning, grabbing, space following and the like of the mechanical arm. The method can be used for rapidly developing and verifying the motion planning of the mechanical arm under the ROS system, and can be used for algorithm verification in scientific research and mechanical arm control in actual production.
Description
Technical Field
The invention belongs to the field of mechanical arm control and motion planning, and particularly relates to a method for realizing rapid mechanical arm modeling and motion planning based on an ROS system.
Background
With the development of robot technology, both industrial robots and service robots are widely used in various fields, and a continuous hot line of robot research is also caused. Wherein the robot operating system plays a crucial role in the great development of robots. The robot operating system is a software platform which is constructed for standardized design of robots, and enables each robot designer to use the same platform for robot software development. Generally, a robot operating system mainly includes functions such as hardware abstraction, bottom-layer device control, common function implementation, interprocess message and data packet management. Currently, the common robot operating systems include an Android (Android) system, a Linux (Ubuntu, Debian, etc.) system, an ROS system, and some embedded operating systems (such as uCOSIII, etc.). Wherein the ROS system has the following characteristics:
1. distributed computing.
2. And (4) multiplexing programs.
3. And fast debugging and testing.
These features are all needed for rapid robot development, and users of the ROS system have been on the rise recently. How to accurately establish a robot model and realize related motion control in the ROS system also becomes a hot point of research. At present, the main method for establishing a robot model in ROS is as follows:
1. the robot model is created using the urdf description handle provided by the ROS system.
2. And converting the Solidworks file into a urdf robot model by adopting a free sw2urdf plug-in written.
The first method has more restrictions on description handles provided by the first method, can only draw regular three-dimensional models such as rectangles and cylinders, and can model a relatively simple robot system, and if the mechanical arm model is complex and parts contain various curved surfaces, the method is difficult and even causes model distortion; the second method is to export the robot model by using a special plug-in, but the method is only limited in the Solidworks drawing environment, and the plug-in is written by individuals, lacks maintenance and verification, and has poor compatibility in various versions of Solidworks.
On the basis, the modeling of the ROS system opens the modeling support for the STL file and the DAE file, and the invention provides a coordinate system establishing rule and method based on an STL file model and a description file compiling frame.
There are many mature algorithms in the field of mechanical arm motion planning, and the algorithms are generally divided into a joint space planning method, a cartesian space planning method, spline function trajectory planning and the like. The joint space planning method is divided into cubic polynomial trajectory planning, quintic polynomial trajectory planning, parabola transition interpolation planning and the like; the cartesian space planning method includes straight line trajectory planning, circular arc trajectory planning, and the like. The various track planning algorithms are often complex in rapid configuration and effect verification in the mechanical arm control system, the invention provides a rapid configuration method according to the Moveit plug-in supported by the ROS system on the basis, and the rapid mechanical arm modeling method provided by the invention can be combined to rapidly realize the configuration and verification of various algorithms on the mechanical arm.
Disclosure of Invention
Aiming at the defects or shortcomings in the prior art, the invention aims to provide a method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system. Firstly, the defects of multiple model limiting conditions, model distortion, poor plug-in compatibility, limitation of drawing environment and the like in the process of modeling the mechanical arm by using a traditional method in an ROS system can be overcome; secondly, by combining the MoveIt interface program module, the MoveIt configuration method, the communication control program module and the like provided by the invention and the modeling method provided by the invention, the rapid configuration of the motion planning of the mechanical arm can be realized, and the existing mechanical arm motion planning algorithm can be used and the advantages and disadvantages of the operation control algorithm written by a user can be rapidly verified.
The technical solution for realizing the purpose of the invention is as follows:
a method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system comprises the following steps:
step 1: drawing a three-dimensional model of each part of the mechanical arm;
step 2: establishing and storing a coordinate system of a three-dimensional model of each part of the mechanical arm;
and step 3: compiling an XML-based mechanical arm description file;
and 4, step 4: resolving a mechanical arm motion plan based on the ROS system;
and 5: and system communication and mechanical arm motion control are realized.
Further, in step 2, a coordinate system of each part is created according to a certain rule, and then the file is saved in STL format, and the unit of the file is set to be meter (m) when the file is saved.
The above coordinate system creation rule is as follows:
21. the created coordinate system is a right-handed cartesian coordinate system;
22. the origin of the coordinate system is preferentially selected to be positioned in the plane where the bottom of the part is positioned;
23. the origin of the coordinate system is preferentially selected to be at the symmetrical center of the three-dimensional model;
24. the origin of the coordinate system must be located, i.e. the distance from the origin of the coordinate system to the outer boundary of the three-dimensional model can be calculated.
Further, the process of creating the coordinate system of each part in step 2 is as follows:
firstly, selecting a plane where a certain outline of a part model needing to create a coordinate system is located as a bottom plane;
then the plane is used as a reference plane for creating a coordinate system, and then an origin of the coordinate system is created on the plane, wherein the position of the origin is arranged on a symmetrical plane or a central rotating shaft of the part;
and finally, the direction of the Z axis of the coordinate system to be created is vertical upwards, the direction of the X axis is inwards along the 'screen', the Y axis points to the left side and is vertical to the X axis and the Z axis respectively, and the creation of the reference coordinate system of the part is completed.
It should be noted that the process does not depend on a fixed model drawing environment, in the step 1 and the step 2, the drawing environment of the three-dimensional model of the mechanical arm part includes all drawing software such as Solidworks, UG, Creo, CATIA, and the format of the final saved file is an STL file, or a DAE format may be selected; meanwhile, when the file is saved in the STL format, the model characteristics cannot be submerged, so that the model cannot be distorted during modeling.
Further, the model file to be saved in step 3 is written into an XML-based model description file according to the programming framework proposed by the present invention.
The programming framework described by the model provided by the invention covers some basic configurations required in the modeling process of the ROS system, and mainly comprises the following parts:
31. xml version description and mechanical arm name declaration;
32. creating color information of the part model by using an RGBA format and declaring other constants;
33. writing macro definition of a mechanical arm transmission part;
34. referencing the saved model file (STL format) and the specific position information of the created coordinate system, creating a joint (join) and a connecting rod (link) of the mechanical arm, and simultaneously containing a collision detection model;
35. and determining the joint transmission attribute and storing the mechanical arm description file, wherein the file format is selected to be a xacro format.
The above steps can readjust the sequence according to specific situations during writing.
Further, the step 4 of calculating the robot arm motion planning based on the ROS system comprises writing a Moveit interface program module and configuring a Moveit motion planning algorithm library and an auxiliary environment thereof. The specific process comprises the following steps:
41. and calling a MoveIt initialization toolkit (MoveIt Setup Assistant Tool), taking the description file created in the step 3 as an input file, and configuring and generating a MoveIt initialization program module. If the default motion planning algorithm library adopted by the initialization program package is not modified, the OMPL is adopted.
42. The MoveIt interface program module is written. The interface program module is used for transmitting the working space point predefined by the user or the space point detected by the sensor to the MoveIt initialization program package generated by the last step of configuration, performing motion planning and generating a corresponding motion message queue.
The Moveit interface program module provided by the invention is compiled by C + +, and gives a plurality of target point positions in the working space of the mechanical arm, and the target points can be a target list appointed by a user and can also be detected by a position sensor. The target points are given in a quaternion mode and are transmitted to a Moveit initialization program module, and the mechanical arm can be subjected to motion planning by applying a specified motion planning algorithm and a motion information sequence of each joint of the mechanical arm is given.
The step 5 comprises the following steps: writing a ROS-based communication control program module, sending the planned motion trail to a motion control module of the mechanical arm and reading the real-time pose of the mechanical arm; the mechanical arm receives the motion information sequence, drives an execution unit of the mechanical arm to move according to the motion information contained in the mechanical arm, collects the motion information of the mechanical arm in real time and sends the motion information to the communication control program.
The ROS-based communication control module provided by the invention supports two types of CAN communication and USART communication which are based on USB transfer or direct connection. The module has two main functions:
1. and sending the motion information sequence of each joint of the mechanical arm given by the motion planning algorithm to a motion control module of the mechanical arm in a queue mode.
2. And reading the actual motion pose information of each joint returned by the motion control module, and issuing the actual motion pose information to the Moveit initialization program module for the motion planning starting point of the next action.
Compared with the prior art, the method for realizing the rapid modeling and the motion planning of the mechanical arm based on the ROS system has the remarkable advantages that: the robot modeling technical scheme can quickly establish the model of the mechanical arm, fully utilizes the advantages of the ROS system, has low requirement on the drawing environment of the mechanical arm model, and has strong adaptability and wide application prospect. The model description file programming framework provided by the invention can be used for describing and programming most mechanical arms and even robots, and is simple and practical. The MoveIt interface program module provided by the invention can be seamlessly connected with the MoveIt initialization program module, and theoretically, the number of target points of the mechanical arm is not limited. The ROS-based communication control program module provided by the invention can be suitable for communication and control of most mechanical arms, and has the advantages of strong adaptability, stable and reliable communication process and wide application range. In a word, the overall solution provided by the invention can be used for rapidly developing and verifying the motion planning of the mechanical arm under the ROS system, and can be used for algorithm verification in scientific research and mechanical arm control in actual production.
Drawings
FIG. 1 is an overall step of a method for implementing rapid modeling and movement planning of a mechanical arm based on an ROS system according to the present invention;
FIG. 2 is an exemplary illustration of a principle and method for creating a three-dimensional part model coordinate system of a robot arm according to the present invention;
FIG. 3 is a flowchart of a programming framework for model description in modeling of a robotic arm based on the ROS system according to the present invention; .
FIG. 4 is a programming block diagram of the Moveit interface program module based on the ROS system proposed in the present invention;
fig. 5 is a programmed block diagram of a communication control program module based on the ROS system according to the present invention.
Detailed Description
As shown in fig. 1, an overall implementation process of the method for implementing rapid modeling and motion planning of a mechanical arm based on an ROS system provided by the present invention is divided into three parts: mechanical arm model building, mechanical arm motion planning and mechanical arm motion control.
Referring to the implementation flow shown in fig. 1, the method specifically includes the following steps:
step 1: and (3) drawing the three-dimensional model of the mechanical arm, wherein the drawing process does not limit the model drawing environment, and can be all drawing software including Solidworks, UG, Creo, CATIA and the like. The three-dimensional model may represent the specific dimensions and appearance details of the robotic arm.
Step 2: creating a three-dimensional model coordinate system and saving a model file of the file. The creation process of the coordinate system is performed before the model is saved or derived, and the creation of the coordinate system follows the creation method provided by the invention. Further, the file, when saved or exported, sets its default size to the master unit of meters (m) to be consistent with the default master unit in the ROS system.
And step 3: according to the model description handle supported by the ROS system, the description file of the mechanical arm model is created by referring to the STL model file saved in the previous step. It should be noted that, in the present invention, all STL model files are replaced with files in the DAE format, so as to achieve the object of the present invention. The RViz in the ROS system is then configured to verify that the model that has been written is within a visual environment, and each joint that drives a robotic arm individually can verify that its motion pattern and range of motion are as expected.
And 4, step 4: the MoveIt program module configuration of the ROS system and the MoveIt interface program module introduction. The specific implementation process of the step is as follows:
41. and calling a MoveIt initialization toolkit (MoveIt Setup Assistant Tool), taking the description file created in the step 3 as an input file, and configuring and generating a MoveIt initialization program module. If the default motion planning algorithm library adopted by the initialization program package is not modified, the OMPL is adopted.
42. The MoveIt interface program module is written. The interface program module is used for transmitting the working space point predefined by the user or the space point detected by the sensor to the MoveIt initialization program package generated by the last step of configuration, performing motion planning and generating a corresponding motion message queue.
And 5: and writing a ROS system mechanical arm communication control program module. The mechanical arm communication control module is a bridge connecting the ROS system and the mechanical arm motion control module. Firstly, the program module sends a motion message queue generated by the Moveit initialization program package to the mechanical arm motion control module to enable the mechanical arm motion control module to execute relevant actions, and then the program module receives the actual pose information of each joint of the mechanical arm and returns the information to the Moveit initialization program package for planning the next group of actions.
Step 51: and the corresponding communication physical interface of the mechanical arm motion control driving module is connected to receive a control message queue sent by a ROS system mechanical arm communication control program and drive each joint of the mechanical arm to move according to a preset motion message.
The environmental configuration of modeling and motion planning of the entire robot arm has been completed so far.
The invention provides a principle and a method for creating a three-dimensional part model coordinate system of a mechanical arm, as shown in fig. 2, and the figure provides an exemplary illustration of the method.
First, the part model shown in fig. 2 is used only for illustrating the method, and the method may be referred to for specific modeling. The modeling process is as follows:
firstly, a plane where a certain outline of a part model needing to establish a coordinate system is located is selected as a bottom plane, and the bottom plane selected by the part is beta.
This plane is then used as the reference plane for coordinate system creation, and the origin of the coordinate system is then created on this plane: o, the position of the origin is preferably arranged on the symmetrical plane or the central rotating shaft of the part. For the present example, the distance from the origin to the outer contour of the part can be calculated as a/2 and b/2, respectively, which will be used in the subsequent modeling.
Finally, the coordinate system to be created is a right-handed cartesian coordinate system, the direction of the Z axis is vertically upward, the direction of the X axis is inward along the "screen", and the Y axis points to the left, and is respectively vertical to the X axis and the Z axis. This completes the creation of the reference coordinate system for the part.
Fig. 3 is a flowchart of a programming framework for model description in the modeling of a robot arm based on the ROS system according to the present invention. The model description is a modeling method based on an XML script language supported by an ROS system. The programming framework provided by the invention consists of declaration and definition, and joint definition.
Wherein, the declaration and the definition comprise a declaration XML version and a mechanical arm name, declaration color information, a declaration procedure constant, a joint transmission parameter macro definition and the like.
The color information statement is in the form (black for example):
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
the macro definition form of the transmission parameter is as follows:
<xacro:macro name="transmission_block" params="joint_name">
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
the joint definition is a core part of the program framework, and the part specifies the motion type, the motion range, the transmission parameters, the collision detection and the like of each joint of the mechanical arm, and the following are exemplified:
the mechanical arm Joint (Joint) definition module is as follows:
<joint name="_NAME" type="_TYPE">
<parent link="_LINK1 "/>
<child link="_LINK2"/>
<origin xyz="_X _Y _Z" rpy="_R _P _Y" />
<axis xyz="_ 1 0" />
<limit effort="_E" velocity="_V" lower="_L" upper="_U"/>
<dynamics damping="_D" friction="_F"/>
</joint>
the underlined (_) plus capital letters or words (e.g., _ a, _ LINK, etc.) listed therein are parameters that need to be determined based on the actual condition of the mechanical arm joint.
The mechanical arm connection (Link) is defined in the following way:
<link name="_LINK_NAME">
<visual>
<origin xyz="_X _Y _Z" rpy="_R _P _Y" />
<geometry>
<mesh filename="package://.. /../_NAME.STL"/>
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="_X _Y _Z" rpy="_R _P _Y" />
<geometry>
<mesh filename="package://.. /../_NAME.STL"/>
</geometry>
</collision>
<xacro:inertial_matrix mass="_M"/>
</link>
the underlined (_) plus capital letters or words (e.g., _ a, _ LINK, etc.) listed therein are parameters that need to be determined based on the actual condition of the mechanical arm joint. This step will refer to the arm part model file (STL file) containing reference coordinate system information as explained in accordance with fig. 2 and introduce a collision detection model.
FIG. 4 is a programming block diagram of the Moveit interface program module based on the ROS system according to the present invention.
The module is used for providing a plurality of target point positions in the working space of the mechanical arm, and the target points can be a target list appointed by a user and can also be detected by a position sensor. The target points are given in a quaternion mode and are transmitted to a Moveit initialization program module, and the mechanical arm can be subjected to motion planning by applying a specified motion planning algorithm and a motion information sequence of each joint of the mechanical arm is given.
Specifically, the main flow of the module is as follows: determining a target point source, converting data (the target point data is formatted in a quaternion form), starting an ROS node thread, calling C + + API of the Moveit to specify a mechanical arm model planning group, pushing the target point to the Moveit initialization program module and the like.
In summary, the module gives the starting point and the target point of the robot arm motion plan.
Fig. 5 is a programmed block diagram of the communication control program module based on the ROS system according to the present invention.
The ROS-based communication control module provided by the invention supports two types of CAN communication and USART communication which are based on USB transfer or direct connection. The module has two main functions:
1. and sending the motion information sequence of each joint of the mechanical arm given by the motion planning algorithm to a motion control module of the mechanical arm in a queue mode.
2. And reading the actual motion pose information of each joint returned by the motion control module, and issuing the actual motion pose information to the Moveit initialization program module for the motion planning starting point of the next action.
As shown in fig. 5, the processing procedure of the module is as follows: firstly, initializing ROS node information, and defining a message server program and a callback function thereof; secondly, processing the received data into a message queue and storing the message queue in an iterator for waiting to be sent; then selecting a communication mode supported by the current mechanical arm, initializing communication parameters according to the communication mode and sending data to a mechanical arm control module; and finally, retrieving the actual pose of the mechanical arm movement according to a communication mode supported by the mechanical arm control module and issuing the actual pose to a Moveit initialization program module.
In summary, compared with the prior art, the invention has the following significant advantages: the robot modeling technical scheme can quickly establish the model of the mechanical arm, fully utilizes the advantages of the ROS system, has low requirement on the drawing environment of the mechanical arm model, and has strong adaptability and wide application prospect. The model description file programming framework provided by the invention can be used for describing and programming most mechanical arms and even robots, and is simple and practical. The MoveIt interface program module provided by the invention can be seamlessly connected with the MoveIt initialization program module, and theoretically, the number of target points of the mechanical arm is not limited. The ROS-based communication control program module provided by the invention can be suitable for communication and control of most mechanical arms, and has the advantages of strong adaptability, stable and reliable communication process and wide application range.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (5)
1. A method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system is characterized by comprising the following steps:
step 1: drawing a three-dimensional model of each part of the mechanical arm;
step 2: establishing and storing a coordinate system of a three-dimensional model of each part of the mechanical arm;
in the step 1 and the step 2, the drawing environment of the three-dimensional model of the mechanical arm part comprises Solidworks, UG, Creo, CATIA and Pro/E, CAD, and the format of the final saved file is STL file;
and step 3: writing an XML-based mechanical arm description file: according to the model description handle supported by the ROS system, creating a description file of the mechanical arm model by referring to the STL model file stored in the step 2, and adopting a mechanical arm model description file programming frame supported by the ROS system well, wherein the format of the file stored after programming is a xacro format; or replacing all STL model files with DAE format files; then configuring the RViz in the ROS system to verify the written model in a visual environment, and independently driving each joint of the mechanical arm to verify whether the motion mode and the motion range of the mechanical arm conform to the expectation;
the programming framework of the mechanical arm model description file well supported by the ROS system consists of two parts, namely statement and definition and joint definition, wherein the statement and the definition also comprise a statement XML version, a mechanical arm name, statement color information, a statement procedure constant and a joint transmission parameter macro definition;
and 4, step 4: resolving a mechanical arm motion plan based on the ROS system:
41. calling a MoveIt configuration Assistant MoveIt Setup Assistant Tool, using the description file created in the step 3 as an input file, and configuring and generating a MoveIt initialization program module; if the default motion planning algorithm library adopted by the initialization program package is not modified, the OMPL is adopted;
42. writing a MoveIt interface program module; the interface program module is used for transmitting a working space point predefined by a user or a space point detected by a sensor to a Moveit initialization program package generated by the last step of configuration, performing motion planning and generating a corresponding motion message queue;
and 5: and system communication and mechanical arm motion control are realized.
2. The method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system according to claim 1, wherein in the step 2, a coordinate system of each part is created according to a certain rule;
the coordinate system creation rule is as follows:
21. the created coordinate system is a right-handed cartesian coordinate system;
22. selecting the origin of the coordinate system to be positioned in the plane where the bottom of the part is positioned;
23. selecting the origin of the coordinate system at the symmetrical center of the three-dimensional model;
24. the origin of the coordinate system must be located, i.e. the distance from the origin of the coordinate system to the outer boundary of the three-dimensional model can be calculated.
3. The method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system as claimed in claim 2, wherein the process of creating the coordinate system of each part in step 2 is as follows:
firstly, selecting a plane where a certain outline of a part model needing to create a coordinate system is located as a bottom plane;
then the plane is used as a reference plane for creating a coordinate system, and then an origin of the coordinate system is created on the plane, wherein the position of the origin is arranged on a symmetrical plane or a central rotating shaft of the part;
and finally, the direction of the Z axis of the coordinate system to be created is vertical upwards, the direction of the X axis is inwards along the 'screen', the Y axis points to the left side and is vertical to the X axis and the Z axis respectively, and the creation of the reference coordinate system of the part is completed.
4. The method for realizing rapid modeling and motion planning of a mechanical arm based on an ROS system according to claim 1, wherein in the step 3, the description file of the mechanical arm is rapidly created by using the saved model file, and the specific steps are as follows:
31: declaring an xml version and a mechanical arm name;
32: creating color information of the part model by using an RGBA format and declaring other constants;
33: writing macro definition of a mechanical arm transmission part;
34: the saved model file and the specific position information of the created coordinate system are quoted, and the joint and the connecting rod of the mechanical arm are created and simultaneously comprise a collision detection model;
35: and determining and saving the joint transmission attribute and a mechanical arm description file.
5. The method for realizing rapid modeling and motion planning of the mechanical arm based on the ROS system as claimed in claim 1, wherein in the step 5, a ROS-based communication control program module is programmed, the planned motion trail is sent to the motion control module of the mechanical arm, and the real-time pose of the mechanical arm is read; the mechanical arm receives the motion information sequence, drives an execution unit of the mechanical arm to move according to the motion information contained in the mechanical arm, collects the motion information of the mechanical arm in real time and sends the motion information to the communication control program.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056239.4A CN106846468B (en) | 2017-01-25 | 2017-01-25 | Method for realizing mechanical arm modeling and motion planning based on ROS system |
| PCT/CN2017/115048 WO2018137414A1 (en) | 2017-01-25 | 2017-12-07 | Ros system-based robotic arm motion control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056239.4A CN106846468B (en) | 2017-01-25 | 2017-01-25 | Method for realizing mechanical arm modeling and motion planning based on ROS system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106846468A CN106846468A (en) | 2017-06-13 |
| CN106846468B true CN106846468B (en) | 2021-05-07 |
Family
ID=59121144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710056239.4A Active CN106846468B (en) | 2017-01-25 | 2017-01-25 | Method for realizing mechanical arm modeling and motion planning based on ROS system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106846468B (en) |
| WO (1) | WO2018137414A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846468B (en) * | 2017-01-25 | 2021-05-07 | 南京阿凡达机器人科技有限公司 | Method for realizing mechanical arm modeling and motion planning based on ROS system |
| CN107553496B (en) * | 2017-09-29 | 2020-09-22 | 南京阿凡达机器人科技有限公司 | Method and device for determining and correcting errors of inverse kinematics solving method of mechanical arm |
| CN109033530A (en) * | 2018-06-28 | 2018-12-18 | 北京道亨时代科技有限公司 | A kind of construction method of turning joint fitting model |
| CN110037910A (en) * | 2019-03-22 | 2019-07-23 | 同济大学 | A kind of multi-functional automatic physiotherapeutical instrument based on realsense |
| CN110539109B (en) * | 2019-08-28 | 2024-04-09 | 广东工业大学 | Robot automatic welding system and method based on single-binocular vision |
| CN110666804B (en) * | 2019-10-31 | 2021-07-13 | 福州大学 | Motion planning method and system for cooperation of double robots |
| CN111055281B (en) * | 2019-12-19 | 2021-05-07 | 杭州电子科技大学 | ROS-based autonomous mobile grabbing system and method |
| CN111267098B (en) * | 2020-02-19 | 2021-05-28 | 清华大学 | Robot joint layer control method and system |
| CN112140106A (en) * | 2020-08-06 | 2020-12-29 | 盐城工学院 | Vehicle-mounted mechanical arm control system based on ROS and modeling method thereof |
| CN112809671A (en) * | 2020-12-30 | 2021-05-18 | 华南理工大学 | Interactive kinematics modeling method of universal serial robot |
| CN113942012A (en) * | 2021-10-19 | 2022-01-18 | 江西省智能产业技术创新研究院 | Mechanical arm joint method, system, computer and readable storage medium |
| CN114851190B (en) * | 2022-04-21 | 2024-05-14 | 深圳市华成工业控制股份有限公司 | Low-frequency drive and control integrated-oriented mechanical arm track planning method and system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110024086A (en) * | 2009-09-01 | 2011-03-09 | 한국전자통신연구원 | Method for transferring/acquiring operating right of moving robot in a multi-operator multi-robot environment and system therefor |
| CN103692320B (en) * | 2013-12-31 | 2016-05-11 | 深圳先进技术研究院 | A kind of method and apparatus of realizing six axle polishing grinding machinery arm off-line programings |
| CN104914733B (en) * | 2014-12-31 | 2017-11-03 | 中国航天科技集团公司第五研究院第五一三研究所 | A kind of space manipulator Three-dimensional Simulation System |
| CN104699122B (en) * | 2015-02-12 | 2017-03-08 | 哈尔滨工业大学 | A kind of robot movement-control system |
| CN104778872B (en) * | 2015-04-03 | 2017-08-15 | 上海交通大学 | The emulation experiment training platform studied for the man-machine interaction of mechanical arm remote operating |
| CN106846468B (en) * | 2017-01-25 | 2021-05-07 | 南京阿凡达机器人科技有限公司 | Method for realizing mechanical arm modeling and motion planning based on ROS system |
-
2017
- 2017-01-25 CN CN201710056239.4A patent/CN106846468B/en active Active
- 2017-12-07 WO PCT/CN2017/115048 patent/WO2018137414A1/en active Application Filing
Non-Patent Citations (2)
| Title |
|---|
| "Adaptation of System Configuration under the Robot Operating System";Jonathan M.Aitken 等;《The Internation Federation of Automatic Control》;20141231;第4484-4492页 * |
| "基于ROS的机械臂轨迹规划研究";刘汝佳 等;《导航定位与授时》;20161130;第3卷(第6期);第82-88页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106846468A (en) | 2017-06-13 |
| WO2018137414A1 (en) | 2018-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106846468B (en) | Method for realizing mechanical arm modeling and motion planning based on ROS system | |
| US20220156433A1 (en) | Industrial network communication emulation | |
| US12061845B2 (en) | Creation of a digital twin from a mechanical model | |
| CN110399642A (en) | It is a kind of for the twin body of number and its construction method of production line and application | |
| CN111390908B (en) | Webpage-based mechanical arm virtual dragging method | |
| US11675936B2 (en) | Unifying multiple simulation models | |
| CN102629388B (en) | Mechanical equipment simulation system generating method | |
| CN111444559A (en) | Dynamic simulation method for FDM type 3D printing process based on ANSYS | |
| CN104536400A (en) | Nuclear power station DCS simulation modeling method | |
| Yun et al. | Using VR technology combined with CAD software development to optimize packaging design | |
| US20160275219A1 (en) | Simulating an industrial system | |
| CN115877736B (en) | Digital twinning-based multi-robot collaborative operation simulation monitoring method | |
| CN115741678A (en) | Robot motion simulation method and simulation system | |
| CN112233208B (en) | Robot state processing method, apparatus, computing device and storage medium | |
| JP2004237364A (en) | Creation method of robot teaching data | |
| CN109656151A (en) | Shield machine intelligence tool changing analogue system and implementation method based on UNITY | |
| KR20130017697A (en) | Method and apparatus for extracting simulation model of robot | |
| Herrmann et al. | Motion Data and Model Management for Applied Statistical Motion Synthesis. | |
| Mourtzis et al. | Design and development of a G-Code generator for CNC machine tools based on augmented reality (AR) | |
| EP3974928B1 (en) | Wiring diagram manager and emulator | |
| US20240173855A1 (en) | Method for Generating Training Data for a Machine Learning (ML) Model | |
| Peng et al. | Manipulator Motion Control | |
| Lang et al. | Virtual assembly system for large-scale complex products | |
| Horváth et al. | A use case of the simulation-based approach to mobile robot algorithm development | |
| Gabdullin et al. | Creation of a synthetic dataset for training precise movements of robots for in various industries |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |