The Research On Motion Planning And Control Simulation Of ROS-based Isotope Dispensing Robot

It has been a hot spot in robot research field that robot replaces human to finish homework in various special environments.Isotope dispensing work is also a concern of special environmental homework.ROS is a de facto standard for robot programming.Based on the ROS architecture,this paper studies some basic problems of isotopic fractional robot in special environment.In the process of isotope robot assembly,kinematics,dynamics,PLC control,programming and so on are involved in robotics.This paper focuses on the motion planning and control simulation of isotopic robot.Based on the ROS platform,a system framework of isotopic robot is set up.The trajectory planning of Redundant Manipulator and the improvement of motion planning algorithm are carried out in MoveIt.The simulation experiments of the isotope bar are carried out with Gazebo.Based on the ROS platform,the software system framework of isotopic fractional robot was preliminarily designed.Based on the positive kinematics theory from D-H parameter to ROS tf,the URDF virtual simulation model of isotopic fractional robot was established.The traversal method was used to obtain the space available for the redundant robotic arm of isotope-dispensing robots.The inverse kinematics solution of the redundant manipulators is given based on the Jacobi iteration method based on velocity and the Newton-Raphson iteration method.The corresponding problems of the inverse kinematics of redundant manipulators are proposed Optimize performance indicators.Aiming at the problem of inverse solution optimization,the generation and use of inverse kinematics solver IKFast plug-in is proposed and implemented.The framework of MoveIt software was analyzed and analyzed.The trajectory planning of isotopic robot was carried out in MoveIt and realized at the code level.Combining the RRT-Connect algorithm with the Anytime RRT algorithm,a new Anytime RRT-Connect algorithm is proposed,and the new algorithm is verified by trajectory planning through OMPL.The scheme of isotope bar extraction based on Anytime RRT-Connect algorithm is proposed.At the control level,the controller part of the isotopic robot was designed in Gazebo.By analyzing the ros_control data structure and combining with MoveIt and Gazebo,the gazebo_ros_control controller plugin was created and the new Anytime RRT-Connect algorithm was registered IKFast inverse kinematics solver,combined with MoveIt andGazebo,used a new Anytime RRT-Connect algorithm to simulate isotope bar harvesting.