Research And Design Of Mobile Handling Robot Based On ROS

With the development and application of robot technology in the industrial field,in order to meet the increasingly diversified industrial production needs,mobile handling robots are playing an increasingly important role.Therefore,scholars at home and abroad have carried out related research on it.In view of the problems of poor algorithm compatibility,poor scalability,and poor system robustness in the current mobile handling robot.In this paper,the ROS operating system is used as the research and development platform to conduct detailed research on key issues such as robot SLAM mapping,path planning,and robotic arm handling,and to verify related algorithms through experiments.By combining the mobile platform with the mechanical arm,the limitations of traditional mechanical arm operations and the singularity of mobile robot functions have been addressed,thus expanding the application domains of robots.Additionally,the mapping accuracy has been ensured and map interactivity has been enhanced through the fusion of laser radar and depth camera.Furthermore,an improved~*-DWA hybrid path planning algorithm is proposed.The diagonal distance is used as the heuristic function,the dynamic weight coefficient(9)9))is incorporated,the search space is reduced,and the path is smoothed through four methods in order to enhance pathfinding efficiency and minimize the number of turns in the improved~*algorithm.The distance evaluation subfunction between the path end and the goal is incorporated,and the velocity space is normalized in the improved DWA algorithm to address local minimum issues.Compared to traditional algorithms,the hybrid algorithm significantly improves pathfinding time,path length,energy consumption,and enables robots to perform path planning in a more reasonable and efficient manner.The specific research work includes the following points:(1)Solution Design for Mobile Handling Robot.Based on the requirements,the robot was designed as a whole,divided into two parts:hardware and software.Regarding the hardware part,the working principle of the mecanum wheels is explained in detail,and the forward and inverse kinematics equations are derived.Then,the analysis of the working principle of the core components is presented,along with the reasons for their selection.Finally,the robot’s circuit modules are described.Regarding the software aspect,Firstly,the framework and characteristics of the ROS system are introduced;then it is briefly described as a robot research and development platform,which can achieve more efficient collaborative work;finally,the startup package of the device software node is implemented under the ROS system.(2)Research on the Fusion Mapping Approach of Lidar and Depth Camera.This approach enables the robot to perceive its surrounding environment,ensuring high-precision mapping while enhancing map interactivity.Firstly,commonly used SLAM map representation methods are introduced.Then,the mapping principles of Gmapping algorithm,Cartographer algorithm,and RTAB-Map algorithm are explained.Finally,the algorithm effectiveness is verified through actual mapping,leading to the selection of the optimal algorithm.(3)Research on Path Planning Algorithms.Path planning can be divided into global path planning and local path planning.Firstly,a detailed discussion is presented on the characteristics and advantages of Dijkstra,~*,improved~*global path planning algorithms,as well as DWA,and improved DWA local path planning algorithms.Then,simulation analysis is conducted for each of these algorithms.Finally,a comparison is made based on factors such as path planning effectiveness,pathfinding time,and path distance.The improved A*-DWA hybrid path planning algorithm is adopted to ensure fast global path planning and real-time local path planning.(4)Research on Mechanical Arm Handling System.Firstly,the camera calibration and hand-eye calibration were carried out to ensure that the image of the moving targets in the camera would not be distorted.Then the kinematics analysis of the mechanical arm was analyzed through the D-H parameter method,and the forward and reverse kinematic equations were solved.Finally,a fifth-order polynomial interpolation was adopted as the trajectory planning algorithm for the mechanical arm,and the motion planning of the arm was implemented through Move It!.The stability and success rate of the arm’s manipulation were validated based on multiple experiments.(5)Experimental Analysis of the Mobile Handling Robot.Based on the preceding tasks,the overall experimental test for the mobile handling robot in the actual environment is done to verify the robot’s mapping,path planning,and handling abilities.