Robot system modeling is the foundation for verifying a robot’s motion control and simulation. The 3D robot model in ROS is implemented through a Unified Robot Description Format (URDF) file, which is an XML file describing the robot as well as its parts structure, joints, and degrees of freedom (DOF). The 3D robot in the ROS system has a corresponding URDF file. This chapter covers several common-wheeled robot motion models and robot modeling with URDF. The robot motion control is performed through ROS to achieve synchronized motion between the simulated and real robots. Then, the typical sensor in robot systems, light detection and ranging (LiDAR), is discussed. Finally, readers can observe the scene profile point cloud data to experience environment sensing and obstacle detection from the robot’s perspective.


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    Title :

    Robot System Modeling


    Contributors:
    Peng, Gang (author) / Lam, Tin Lun (author) / Hu, Chunxu (author) / Yao, Yu (author) / Liu, Jintao (author) / Yang, Fan (author)

    Published in:

    Publication date :

    2023-09-05


    Size :

    51 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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