【摘要】 在ROS平台下,建立移动操作臂的URDF模型文件,并通过Move It!配置助手生成移动操作臂运动规划的配置及启动文件。通过ROS平台下移动平台的自主导航功能包和实现机械臂运动规划的Motion Planning插件共同完成移动操作臂的运动规划。通过分析运动规划过程中机械臂各关节的运动信息,验证运动规划结果的合理性。更多还原

【Abstract】 Based on ROS a URDF file of the mobile manipulator is established. Using Move It! setup assistant makes it easy to configure the mobile manipulator for the motion planning. With the autonomous navigation feature pack of the mobile platform and the motion planning plugin for motion planning, we can accomplish the motion planning based on ROS. Through analyzing a set of joint information in the course of mobile manipulator’s motion planning, we can verify the rationality of the motion planning’s result.更多还原