Open AccessROS-based robot offline planning simulation system
Author(s) -
Zhiheng Liu,
Jian Chen,
Zhen Mei,
Chao Li
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/711/1/012002
Subject(s) - motion planning , computer science , robot , trajectory , process (computing) , path (computing) , obstacle , bounding overwatch , minimum bounding box , kinematics , simulation , real time computing , computer vision , artificial intelligence , physics , classical mechanics , astronomy , political science , law , image (mathematics) , programming language , operating system
In order to realize the rapid and automatic generation of robot motion trajectory, a robot offline planning simulation system was developed based on ROS platform. This paper analyzes the model STL file, reconstructs the topology data structure, generates the model minimum bounding box, and obtains the model surface path through the slicing algorithm to generate the processing path. The system loads the Moveit motion planner, applies different motion planning methods, generates a collision-free, continuous motion trajectory, and visualizes the offline planning process. The simulation verification system can realize the functions of rapid path generation on the workpiece surface and obstacle avoidance motion planning of the robot arm. It can realize offline programming of robots and improve the efficiency of robot teaching.