ROS是一个开源的机器人操作系统,能够很好的验证各类运动规划算法.通过对该系统的研究,提出一种以ROS为平台在笛卡尔空间下进行运动规划的方法.首先将工业机器人的三维模型转制为ROS中的URDF格式,完成机器人的初步配置.然后使用MoveIt!工具添加了使用最小二乘迭代的逆解算法,该方法通用性强,且可得到唯一最优解.对于规划过程中的姿态插补,则采用单位四元数法,该方法有效解决了万向节锁死和旋转不平滑等问题.最后让机器人分别沿着直线和圆弧轨迹进行运动仿真,从实验结果可以看出机器人运动轨迹平滑,表明了此方法的可行性.%ROS is an open source robot operating system, can be a good validation of various types of motion planning algorithm.Based on the research of this system, a method of motion planning in Cartesian space is proposed using ROS as the platform.Firstly, the 3D model of industrial robot is transformed into URDF format of ROS, and the initial configuration of the robot is completed.Then use the MoveIt! tool to add the least squares iterative inverse solution algorithm, the method is general, and can achieve the unique optimal answer.For the orientation interpolation process,using unit quaternion can effectively resolve gimbal lock and rotation unsmooth problems.Finally, for linear trajectory and circular trajectory respectively, simulation results show that the robot can achieve smooth motion along the planned trajectory.So it illustrates the feasibility of the method described above.
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