Delta Robot Motion Simulation And Experiment Research Based On ROS

The cycle of research and development of robot is very long,because it needs to go through many processes from the mechanical design of the body to the prototype test.Thanks to the development of computer technology,robot simulation has become a powerful means to reduce robot research and development cycle and cost.Among the numerous Robot simulation platforms,Robot Operating System(ROS)quickly stands out as the mainstream Robot simulation platform due to its advantages.Due to the defects of the Unified Robot Description Format(URDF)on establishment of parallel structure,simulation modeling of parallel structure under ROS environment cannot be completed through general methods.This hinders the development of ROS-based parallel robot motion control systems.Based on this premise,this paper takes the Delta robot as the research object and carries out the simulation movement and experimental research on the of the Delta robot based on ROS.Main tasks: established the robot coordinate system of the Delta robot,conducted the kinematics analysis of the Delta robot on this basis,and obtained the kinematics equation of the Delta robot;the correctness of the algorithm is verified by the mathematical tool software;the explicit equations of kinematics was used to analyze the workspace of the robot in Delta,and the workspace was visualized;completed the design of Delta robot microcontroller power management module to provide stable voltage for each functional module;the design of microcontroller driver module was completed;completed the communication module design between the host computer and microcontroller;by combining SDF and URDF description formats the establishment of parallel structure was accomplished,a Delta robot simulation model based on ODE virtual physics engine jointly developed by ROS and Gazebo was realized;a Delta robot motion simulation system under ROS environment was built;completed the communication between ROS and the microcontroller,compiled the GUI interface of ROS,and realized the movement control of the real machine of Delta robot under ROS;finally,this system was used to carry out a real machine control experiment on the Delta robot.The test results showed that the completed rosbased Delta robot motion control system can carry out simple trajectory control with certain motion accuracy.