Title:
ROS SYSTEM-BASED ROBOTIC ARM MOTION CONTROL METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/137414
Kind Code:
A1
Abstract:
An ROS system-based robotic arm motion control method and system, mainly comprising the following steps: 1. drawing of three-dimensional models of components of a robotic arm; 2. creation and saving of a coordinate system of the three-dimensional models of the components of the robotic arm; 3. writing of an XML-based robotic arm description file; 4. ROS system-based robotic arm motion planning; and implementation of system communication and robotic arm motion control. A kinematic model and a kinetic model of a robotic arm can be quickly established, a corresponding motion planning library is invoked in combination of a MoveIt module of an ROS system to implement motion planning of a robot, and finally, the motion planning solution result is sent to the motion control module of the robotic arm, so as to achieve the actions of the robotic arm, such as positioning, grabbing, and spatial following. Quick development and verification of the motion planning of the robotic arm can be implemented under the ROS system, the present invention can be applied to both algorithm verification in research and control of the robotic arm in practical production.
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Inventors:
ZHANG GUANGXIAO (CN)
Application Number:
PCT/CN2017/115048
Publication Date:
August 02, 2018
Filing Date:
December 07, 2017
Export Citation:
Assignee:
NANJING AVATARMIND ROBOT TECH CO LTD (CN)
International Classes:
G06T17/00; B25J9/16
Foreign References:
| CN106846468A | 2017-06-13 | |||
| CN104778872A | 2015-07-15 | |||
| CN104699122A | 2015-06-10 |
Other References:
CHEN, QIANLI ET AL.: "The Design of Control System for Robot Arm Based on ROS", MECHATRONICS, 29 February 2016 (2016-02-29), pages 38 - 40, 61
MENG, SHAONAN ET AL.: "The Motion Planning of a Six DOF Manipulator Based on ROS Platform", JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY, vol. 50, 31 July 2016 (2016-07-31), pages 94 - 97
MENG, SHAONAN ET AL.: "The Motion Planning of a Six DOF Manipulator Based on ROS Platform", JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY, vol. 50, 31 July 2016 (2016-07-31), pages 94 - 97
Attorney, Agent or Firm:
SHANGHAI SHUONEE INTELLECTUAL PROPERTY LAW OFFICE (CN)
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