A complex workpiece trajectory planning simulation system based on ros platform

Abstract

The invention is applicable to the field of robot track planning technologies, and provides a complicated workpiece track planning and simulating system on the basis of ROS (robot operating system) platforms. The complicated workpiece track planning and simulating system comprises a model description module, a shape processing module, a movement planning module, a simulating module, a track optimizing module, a program generating module and a communication module. Imported three-dimensional workpiece models and three-dimensional robot models can be transformed into URDF data formats by the model description module; workpieces can be divided into triangular patches on the basis of grid algorithms by the shape processing module, and triangular patch information can be extracted by the shapeprocessing module; robot movement tracks can be planned on the basis of the triangular patch information of selected regions by the movement planning module; movement of three-dimensional robots and end actuators on the basis of planned tracks can be graphically displayed by the simulating module, and operation data of the end actuators can be given by the simulating module; the planned tracks canbe optimized via man-machine interactive interfaces on the basis of simulation results by the track optimizing module; optimized robot movement tracks can be transformed into program language by theprogram generating module; the program language generated by the program generating module can be transmitted to robot controllers by the communication module. The complicated workpiece track planningand simulating system has the advantage that tracks of the complicated workpieces can be planned by the complicated workpiece track planning and simulating system.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory planning, and provides a complex workpiece trajectory planning simulation software based on the ROS platform. Background technique [0002] Robot technology is an important automation technology for modern manufacturing that integrates multidisciplinary advanced technologies such as machinery, electronics, control, software, sensors, and artificial intelligence. It is one of the ten key areas of the "Made in China 2025" plan. The software system, as the brain of the robot, is an important indicator to determine the level of intelligence of the robot. [0003] At present, the vast majority of robot applications in industrial sites obtain robot motion programs in the form of teaching. This method not only requires experienced robot operators, but also makes it difficult to guarantee robot motion accuracy. Moreover, in the face of complex motion trajectories, manual teaching is often incomp...

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Problems solved by technology

[0004] The embodiment of the present invention provides a complex workpiece trajectory planning simulation software system based on the ROS platform, aiming to solve the problem that the existing robot planning simulation software system can only plan points, lines or contour lines, but cannot realize trajectory planning for complex curved surfaces

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