基于ROS的双臂移动机器人平台的开发

Cobot Pub Date : 2022-01-12 DOI:10.12688/cobot.17457.1

R. Xu, Lu Qian, Xingwei Zhao

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引用次数: 3

摘要

背景：随着移动机器人在仓储、物流和服务领域的需求不断增加，简单的平面运动已难以满足复杂环境的任务要求。移动机器人和协作机器人的结合有助于提高机器人运动的灵活性，扩大机器人的应用范围。方法：针对双臂机器人和移动机器人在实际应用中的应用需求，设计了平台的硬件，搭建了基于ROS（机器人操作系统）的仿真平台，并设计了实际的软件控制框架。最后，通过两个机器人的耦合运动实验验证了平台设计的可行性。结果：我们建立了ROS中双臂移动平台的仿真，设计了实际的软件控制框架，并通过实验验证了平台设计的可行性。结论：移动平台可以满足多种应用需求，为后续开发奠定基础。

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Development of dual-arm mobile robot platform based on ROS

Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.

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来源期刊

Cobot collaborative robots-

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期刊介绍： Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.