{"title":"基于ROS的双臂移动机器人平台的开发","authors":"R. Xu, Lu Qian, Xingwei Zhao","doi":"10.12688/cobot.17457.1","DOIUrl":null,"url":null,"abstract":"Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":" ","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2022-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Development of dual-arm mobile robot platform based on ROS\",\"authors\":\"R. Xu, Lu Qian, Xingwei Zhao\",\"doi\":\"10.12688/cobot.17457.1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.\",\"PeriodicalId\":29807,\"journal\":{\"name\":\"Cobot\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-01-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Cobot\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.12688/cobot.17457.1\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cobot","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.12688/cobot.17457.1","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Development of dual-arm mobile robot platform based on ROS
Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results: We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions: The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.
期刊介绍：
Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review.
The scope of Cobot includes, but is not limited to:
● Intelligent robots
● Artificial intelligence
● Human-machine collaboration and integration
● Machine vision
● Intelligent sensing
● Smart materials
● Design, development and testing of collaborative robots
● Software for cobots
● Industrial applications of cobots
● Service applications of cobots
● Medical and health applications of cobots
● Educational applications of cobots
As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.
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