基于ROS的双机械臂协同感知抓取系统设计与实现
Design and Realization of ROS-Based Dual Robotic Arm Cooperative Sensing and Grasping System

本文旨在设计和实现基于ROS的双机械臂协同感知抓取系统，探讨双臂协同控制策略和视觉感知技术在机械臂任务中的应用。通过机械臂运动学分析和双臂协同系统设计，结合视觉点云技术实现双臂协同抓取，利用ROS平台构建双机械臂系统实验平台，验证协同控制策略的有效性。主要研究内容包括机械臂运动学正解和逆运动学模型分析、视觉点云识别在双臂协同任务中的应用、双臂协同控制策略的实现以及协同抓取实验结果与分析。通过本研究，成功设计并实现了基于ROS的双机械臂协同感知抓取系统，验证了双臂协同控制策略的有效性。
This article aims to design and realize a dual robotic arm cooperative perception grasping system based on ROS, and explore the application of dual-arm cooperative control strategy and visual perception technology in robotic arm tasks. By analyzing the kinematics of the robotic arm and designing the dual-arm cooperative system, combining the visual point cloud technology to realize the dual-arm cooperative grasping, and constructing an experimental platform of the dual-me- chanical-arm system by using the ROS platform to verify the effectiveness of the cooperative control strategy. The main research content includes the analysis of positive and inverse kinematic models of robotic arm kinematics, the application of visual point cloud recognition in the dual-arm cooperative task, the realization of dual-arm cooperative control strategy, and cooperative grasping experimental results and analysis. Through this study, a ROS-based dual robotic arm cooperative perception grasping system is successfully designed and realized, and the effectiveness of the dual-arm cooperative control strategy is verified.