文档介绍：Classified Index: TP24 :
Dissertation for the Master Degree in Engineering
ROS-BASED PLANNING AND MOTION SIMULATION OF MOBILE MANIPULATOR
Candidate: Qian Wei
Supervisor: Assistant Prof. Chen Ming
Academic Degree Applied for: Master of Engineering
Speciality: Mechatronics Engineering
Affiliation: Shenzhen Graduate School
Date of Defence: December, 2014
Degree-Conferring-Institution: Harbin Institute of Technology
摘 要
移动操作机械臂作为新型的机器人,在家庭服务中发挥着越来越重要的作用,围绕其开展的技术研究也越来越多。本文主要对移动操作机械臂的仿真实验平台搭建及路径规划方法进行了深入研究,形成了自己的观点和方法。
本文首先对冗余自由度机械臂的运动学展开研究,其中机械臂的连杆坐标
系建立及正向运动学较为简单,逆运动学的解决方法比较复杂。文中提出了手臂三角形平面的概念并通过控制其旋转角度求出了目标位姿下的关节角度。通
过笛卡尔空间直线插值、圆弧插值以及自运动插值运动的方法验证了冗余机械臂逆解的正确性。
移动操作机械臂是集机械臂、移动平台、传感器的复杂系统,因此仿真要求比普通机器人更高。本文在开源机器人操作系统ROS下搭建了移动操作机械臂的仿真平台。利用开源动力学仿真器Gazebo对笛卡尔空间的插值运动进行了仿真,验证了仿真平台的有效性和可靠性。
路径规划是机器人运动首先需要解决的问题,移动操作机械臂在服务人类
的过程中不免会遇到动态障碍物,因而机器人的路径规划将面临更加严格的挑战。本文通过改进传统的RRT算法并将其运用到动态环境中,实现了冗余自由度机械臂在动态环境下的自主规划。
在仿真实验环节,利用ROS及Gazebo仿真平台完成了基于Kinect的抓取水杯实验以及基于Kinect的开门实验。文章的最后一部分对动态RRT规划过程进行了测试,证明了本文动态RRT算法的可行性。
关键词:移动操作机械臂;RRT规划;ROS;Gazebo仿真器;动态规划
I
Abstract
As a kind of novel robots, mobile manipulator plays a more and more important role in domestic service. More and more researches around mobile manipulator have been carried out. This dissertation presents a thorough research on the simulation platform and motion planning of mobile manipulator, and also puts forward some views and methods about the robot.
The first part of this dissertation focused on the kinematics analysis of the redundant manipulator. It's a simple task to build link coordinate system and solve forward kinematics problem while inverse kinematics issue is plicated than that mon 6 DOF manipulators. In this part, the notation called arm triangular plane is presented, and then we can obtain current position of each joint by fixing the revolute angle of the plane. The correctness and availability of the inverse kinematics method are verified by line interpolation, circular arcs interp