基于ROS的UR机器人遥操作系统设计

摘要

针对机器人的应用及研发中存在的智能化水平不高的情况,设计一种基于开源机器人操作系统ROS的遥操作系统.采用机器视觉技术将颜色球在摄像机下的运动位姿转化为 UR 机器人的运动位姿,实现对机器人的遥操作目标,基于开源机器人操作系统 ROS,设计了机器人遥操作系统,并进行实验验证.实验结果表明:该遥操作系统可以胜任对机器人的遥操作任务,并可简单地移植到其他机器人平台上.%Aiming at the bad intelligence level of robot in its application and research, design the tele-operation system based on ROS. Use machine vision technology to transform the color ball's movement posture under the camera to the UR robot's movement and then achieved the goal of tele-operation. Design robot tele-operation system based on ROS, and verify it by test. The test results show that the tele-operation system can be well qualified for robot tele-operation task, and easily be transplanted to other robots.