Simulation of Closed Kinematic Chains in Realistic Environments Using Gazebo
Simulation of Closed Kinematic Chains in Realistic Environments Using Gazebo
复制标题
使用 Gazebo 模拟现实环境中的闭合运动链
DOI：
10.1007/978-3-319-26054-9_22
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
M. Žefran
中科院分区：
文献类型：
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作者：
Michael Bailey;Krystian Gebis;M. Žefran
仿真是机器人设计过程中不可或缺的一部分;它允许设计人员验证机械结构、传感器和软件是否按预期协同工作。它还可以作为团队的协作平台。Gazebo是一个特别有吸引力的模拟平台，因为机器人的物理行为可以与控制它的ROS软件并行模拟。Gazebo的一个鲜为人知的功能是它能够模拟封闭的运动链。这部分是由于缺乏建立这种模拟的完善程序。本章详细介绍了如何在Gazebo中模拟具有闭合运动链的机器人。它解释了如何使用计算机辅助设计（CAD）程序（如SolidWorks）创建的机器人模型可以导出到Gazebo，以便正确建模封闭的运动链，以及如何生成逼真的仿真环境。我们提供了详细的分步示例，读者可以使用这些示例使用Gazebo和SolidWorks轻松创建新的模拟。SolidWorks被选为CAD工具，因为它可以部分导出运动结构。然后，可以相对容易地将闭合运动链添加到这些导出的结构中，以便它们可以在Gazebo中使用。
Simulation is an integral part of the robo design process; it allows the designer to verify that the mechanical structure, sensors and software work together as intended. It can also serve as a collaboration platform for a team. Gazebo is a particularly attractive simulation platform as the physical behavior of the robot can be simulated in parallel with the ROS software that controls it. A lesser known feature of Gazebo is its ability to simulate closed kinematic chains. This is partly due to a lack of a well-established procedure for creating such simulations. This chapter describes in detail how robots with closed kinematic chains can be simulated in Gazebo. It explains how a robot model created with a computer-aided design (CAD) program such as SolidWorks can be exported to Gazebo so that closed kinematic chains are properly modeled, and how a realistic simulation environment can be generated. We provide detailed step-by-step examples that can be used by the reader to easily create new simulations using Gazebo and SolidWorks. SolidWorks was chosen as the CAD tool because it can partially export kinematic structures. Closed kinematic chains can then be relatively easily added to these exported structures so they can be used in Gazebo.