基于ROS的UR机器人离线编程系统设计与开发

摘要

为解决工业机器人在线示教编程存在的编程效率低下等问题,针对UR5六自由度工业机器人应用,开发了一套基于机器人操作系统ROS的离线编程系统.基于ROS提供的灵活的模块化机制实现了离线编程系统各模块的系统级联.通过模块化的设计方法分别实现了机器人正逆运动学解算、关节空间轨迹规划、运动过程离线仿真和编程交互等功能模块.仿真测试和实验结果表明,所开发的离线编程系统人机交互界面友好,可有效提高UR机器人应用开发的编程效率.%To solve the issue like low programming efficiency in online programming for industrial robots,an offline programming system is developed based on the Robot Operating System for UR5 robots with 6-DOF.Based on the flexible modularize mechanism of ROS,the system block of each module was connected into a whole system.Through modular design,the function modules of robot forward and inverse kinematics equation,joint space trajectory planning,off-line simulation and programming interaction were realized respectively.Simulation and experimental results show that the developed system can satisfy the application development requirements of the robot and improve the programming efficiency.