Simulation and Analysis of a Robot ArmBased on ROS
| Autor: | WU, ZHAO-YUE, 吳昭月 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 It’s vital to apply simulation platform for robot design. In this thesis, open source simulation platform, ROS (Robot Operating System), is engaged to simulate robot kinematics and dynamics. To detail understand ROS simulation platform, its calculation compared with 4-3-4 polynomial trajectory for motion planning and robot dynamic equations is investigated. The simulation experiments are divided into five stages. In the first stage, three-axis robot arm is drown in Inventor. In the second stage, the D-H parameter table is built for the forward and inverse kinematics of robot arm. In the third stage, the robot arm dynamics and 4-3-4 polynomial trajectory is built. In fourth stage, the robot arm is introduced in Gazebo for kinematics and dynamics simulation. In the final stage, the trajectories of robot arm produced by Gazebo are compared for the study. By the five experiments, the calculation of ROS simulation is revealed for the robot design in the future. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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