Manipulator's Design And Research On Motion Planning Method Of Target Tracking Based On ROS

As robots become more and more widely used,manipulators,as an important part of robots,are faced with increasingly complicated operational tasks.Whether in industry or in daily life,traditional robots mostly operate on static targets.For some moving targets,the robot's execution ability is relatively weak.Studying the robot's target tracking technology can not only improve the robot's ability to operate on moving targets,but also expand the application environment of the robot and make it more intelligent.Therefore,the research of robotic target tracking technology has important research significance and practical value,and it has gradually become one of the hotspots in this field.Because the development of robots is more complicated,and many function packages and driver support provided by ROS(Robot Operating System)make development relatively simple,can quickly practice their own algorithms,and save a lot of costs.So this paper builds software and simulation platform for tracking robot based on ROS.In this paper,the following researches are focused on the target tracking method of the manipulator:The overall scheme of the tracking manipulator system is studied,and the dynamics and kinematics models are established.According to the analysis of the working characteristics of the tracking task,the structural form of the tracking robot is determined and the degrees of freedom are reasonably allocated.For the problem that the tracking task requires high accuracy of the robot's motion control,the characteristics of different driving methods are compared and analyzed,and the appropriate joint driver is selected.In order to determine the movement state of the end of the manipulator and lay the foundation for its motion planning and control,analyze and track the kinematics of the manipulator,solve the forward and inverse kinematics equations,establish the dynamic model of the manipulator,and use the joint angle and position of the manipulator in special posture Information verification model reliability.The software design of the tracking manipulator system is studied,and a simulation experiment platform is established.Aiming at the difficulty of independently designing the manipulator software and the troublesome debugging,the robot development platform-ROS is used to complete the software design and save costs.Aiming at the problems of complicated communication between the host computer and the manipulator in tracking tasks,and the control commands are easy to report errors,the communication mechanism of ROS is used to unify the definitions between the interfaces to realize the data transmission between functional nodes.Motion configuration simplifies the design of control system software.Aiming at the reliability of the visualization model in the software,the tools in ROS were used to solve the pose of the end in the base coordinate system,and the results were compared with the results obtained from the forward and inverse motion equations.In order to quickly verify the feasibility of the target tracking method,a simulation experimental platform for tracking manipulators was established.Study the manipulator's target tracking technology and carry out simulation experiments.Aiming at the problems of poor real-time performance of traditional tracking methods and large errors in continuous tracking,a method based on position and speed planning was proposed to enable the robot to complete continuous tracking tasks of moving targets in real time.Aiming at the problem that the joint trajectory of the manipulator is not smooth during the tracking process,a method based on the fifth spline is used to make the joint movement more stable.Aiming at the reliability of the simulation experiment platform,a program was written to realize the forward and reverse movements of the manipulator,and the motion results were compared with the results obtained by the kinematic equations.Aiming at the pause in the process of multi-target continuous motion,the planned joint trajectory was redefined to enable the robot to perform continuous motion without interruption.Aiming at the reliability of the proposed target tracking method,a simulation experiment scheme is designed to compare the position changes of the moving target and the end,and verify the real-time tracking effect of the manipulator.Study and verify the effect of the target tracking method in practical application,and carry out the actual experiment of robotic target tracking.Aiming at the problem of how to accurately obtain the movement information of the moving target,a vision-based target tracking node is established through the ROS platform,the movement information of the moving target is obtained by solving,and it is sent to the manipulator system to make it track the movement track of the moving target.Aiming at the question of whether the actual movement of the manipulator can meet the task requirements,the kinematic performance of the manipulator is checked by the forward and reverse movements of the manipulator.Aiming at the feasibility of the proposed target tracking method in practical application,the motion trajectory of the end is compared with the target trajectory obtained by the vision system,and the tracking of the manipulator is evaluated.Effect in application.