Aiming at the problem of robot motion planning under the environment of obstacles, this paper studies the obstacle avoidance planning method of robot arm under the ROS platform (Robot Operating System). Based on the service robot developed by the team, the robot URDF (Unified Robot Description Format) file is exported from the 3-D SolidWorks model using the SW2URDF plugin, and the configuration and launch files needed for robot arm motion planning are created by MoveIt! Setup Assistant. By using relevant APIs provided by MoveIt! and invoking random sampling based algorithm RRT we completed the obstacle avoidance planning, object grasping and placement tasks in 3-D real-time simulation environment Rviz (ROS visualization), and also derived the position and velocity curves of each joint of the robot arm. Finally, obstacle avoidance planning, grasping and placing experiments were carried out on the robot, the arm successfully grasped the object and placed it on the designated location without collision. The results show that the use of ROS platform for obstacle avoidance planning is convenient and intuitive, and it is instructive to the application research of robot.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Target Grasping and Obstacle Avoidance Motion Planning of Humanoid Robot


    Beteiligte:
    Ren, Ke (Autor:in) / Lu, ZhiGuo (Autor:in) / Dong, Hu (Autor:in) / Cheng, Dexin (Autor:in) / Yu, Yongji (Autor:in) / Cui, Ruibo (Autor:in) / Yu, Qingwen (Autor:in) / Yan, Shiyu (Autor:in)


    Erscheinungsdatum :

    2018-08-01


    Format / Umfang :

    779230 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Humanoid walking tracking obstacle avoidance robot

    GUO HAIFENG / JIA WENCAN | Europäisches Patentamt | 2023

    Freier Zugriff

    Obstacle avoidance robot

    YUAN MINGHAI / CAI XIANXIAN / LI FAN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Complex motion planning for NAO humanoid robot

    Gouda, Walaa / Gomaa, Walid | IEEE | 2014


    Adaptive Path Planning for Mobile Robot Obstacle Avoidance

    Rong-Jong Wai / Chia-Ming Liu | BASE | 2011

    Freier Zugriff

    Flying robot obstacle avoidance device and obstacle avoidance method of flying robot

    WANG XIAOGUANG | Europäisches Patentamt | 2020

    Freier Zugriff