Transcript of 제3회 오픈 로보틱스 세미나 (제12세션) : 로봇 암 모델링과 MoveIt! 사용법
- 1. MoveIt! The 3rd Open Robotics Seminar WWW.OROCA.ORG Section
12. 2015/05/24
- 2. ?
- 3. http://www.hottoys.com.hk/
- 4. http://www.hottoys.com.hk/
- 5. ~ !
- 6. (unimate), 1961 ~ http://en.wikipedia.org/wiki/Unimate
- 7. (SCARA) http://www.ait.kyushu-u.ac.jp/
- 8. (SCARA) http://www.ait.kyushu-u.ac.jp/
- 9. http://www.robotis.com/ 6th axis 5th axis 4th axis 3rd axis
2nd axis 1st axis (revolute joint) (link)
- 10. http://www.theroboticschallenge.org/http://www.robotis.com/
DRC !! 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis
(revolute joint) (link)
- 11. CHIMP (TARTAN RESCUE) Aero DRC (TEAM AERO) HRP2+ (TEAM
AIST-NEDO) DRC-Hubo (TEAM DRC-HUBO AT UNLV) Cog-Burn (TEAM GRIT)
Johnny 05 (TEAM HECTOR) Atlas (TEAM HKU) HRP-2 (Team HRP2-Tokyo)
Running Man (Team IHMC Robotics) Xing Tian (Team Intelligent
Pioneer) DRC-HUBO (Team KAIST) Helios (Atlas) (Team MIT) Hydra
(Team NEDO-Hydra) JAXON (Team NEDO-JSK) Momaro (Team NimbRo Rescue)
RoboSimian (Team RoboSimian) THORMANG (Team ROBOTIS) THORMANG (Team
SNU) THOR-RD (Team THOR) Hercules (Team TRAC Labs) LEO (Team
TROOPER) ESCHER (Team VALOR) Florian (Team ViGIR) WALK-MAN (Team
WALK-MAN) WARNER (Team WPI-CMU)
http://www.theroboticschallenge.org/teams
- 12. Yaskawa SmartPal V
- 13. ? !
- 14. ? ! ! ! (^^)/
- 15. , !
- 16. x y z 3 ! (x,y,z) (work space): (x, y, z) (, , )
- 17. www.neo-tex.com x y z 3 ! (x,y,z) http://www.robotis.com/ ?
. ^^;; (1, 2, 6) (work space): (x, y, z) (, , ) 6th axis 5th axis
4th axis 3rd axis 2nd axis 1st axis (joint space): (123...)
- 18. http://www.tbotech.com/sodacansafe.htm x y z (x, y, z) (, ,
) roll() pithch() yaw() 6 / = 6
- 19. http://www.tbotech.com/sodacansafe.htm x y z (x, y, z) (, ,
) roll() pithch() yaw() 6th axis 5th axis 4th axis 3rd axis 2nd
axis 1st axis http://www.robotis.com 6 / = 6 6 , = 6
- 20. !
- 21. . !
- 22. https://www.youtube.com/watch?v=dblCGZzeUqs
- 23. http://wiki.ros.org/ROS/Patterns/RobotModelling
- 24. URDF(Universal Robot Description Format) RViz SRDF(Semantic
Robot Description Format) MoveIt! SDF(Simulation Description
Format) Gazebo http://wiki.ros.org/ROS/Patterns/RobotModelling
URDF
- 25. $ cd ~/catkin_ws/src $ catkin_create_pkg
testbot_description urdf $ cd testbot_description $ mkdir urdf $ cd
urdf $ gedit testbot.urdf 1 2 3 1 2 3 4
- 26. 1 2 3 1 2 3 4
- 27. 1 2 3 1 2 3 4
- 28. $ check_urdf testbot.urdf robot name is: test_robot
---------- Successfully Parsed XML --------------- root Link: base
has 1 child(ren) child(1): link1 child(1): link2 child(1): link3
child(1): link4 $ urdf_to_graphiz testbot.urdf Created file
test_robot.gv Created file test_robot.pdf
- 29. $ roslaunch testbot_description testbot.launch $ rosrun
rviz rviz
- 30. (Jorge Santos, CC BY 3.0) $ cd ~/catkin_ws/src $ git clone
https://github.com/turtlebot/turtlebot_arm.git
- 31. $ roslaunch turtlebot_arm_description test.launch $ rosrun
rviz rivz
- 32. http://moveit.ros.org/documentation/concepts/
- 33. $ roslaunch moveit_setup_assistant
setup_assistant.launch
- 34. $ roslaunch turtlebot_arm_moveit_config
turtlebot_arm_moveit.launch
- 35. $ sudo apt-get install ros-indigo-dynamixel* $ sudo apt-get
install ros-indigo-arbotix* $ roslaunch turtlebot_arm_bringup
arm.launch --screen $ roslaunch turtlebot_arm_moveit_config
turtlebot_arm_moveit.launch sim:=false screen
- 36.
- 37. Thank you for your attention. Yoonseok Pyo
passionvirus@gmail.com www.robotpilot.net WWW.OROCA.ORG