基于ROS串联机器人虚拟运动控制及仿真研究

摘要

在众多的机器人开发软件中,ROS是机器人软件开发的主流平台,在对此平台系统架构、内部数据通信、分布式处理等方面研究基础上,具体分析了系统底层实时运算模块和系统高层规划模块构建机制,提出一种基于ROS利用三维模型来实现串联机器人虚拟运动控制与虚拟仿真的方法,并以6自由度多功能机器人为例进行虚拟控制及仿真实验,结果表明该方法有效,对ROS应用研究有着重要意义.%Among the robot development softwares,ROS has become the main platform.in this platform,with the study of system architecture,internal data communication,distributed processing and detailed anal-ysis of the lower level real-time computing system module and high level planning module building methods,it is proposed that use of ROS and three-dimensional model lead to achieve a series of virtual robot motion control and virtual simulation methods,and an example of a 6-DOF virtual multifunction robot control and simulation results show that this method can not only emulate,also can be used for the actual robot control,this is of great significance in ROS applied research.