Modeling and Gait Planning Simulation of Tower-Climbing Robot Based on ROS

摘要

In order to improve the automation level of the power system, reduce the labor intensity of electric workers in the maintenance of the high-voltage power transmission system, and ensure their personal safety. With reference to the climbing gait of the inchworm, a multi-joint angle Tower-climbing robot was designed and proposed. The development of climbing robots is a relatively innovative scientific field. Taking into account the intuitiveness and high efficiency of the robot development process, the robot development method based on ROS (Robot Operating System) is adopted, and kinematic analysis and solution configuration are carried out. Firstly, the kinematics modeling of the climbing robot is carried out to solve the robot kinematics problem. Then the trajectory planning method based on Cartesian space is used to plan the trajectory of the end of the climbing robot, and it is simulated and verified by Matlab. Finally, the climbing robot model file is imported into ROS, and the gait planning control program of the quadruped robot is written through the user API to simulate the motion planning. At the same time, RVIZ can visualize the robot's movement process and obtain other relevant data during the movement, indicating the correctness of the trajectory planning. The results show that the development method of climbing robot based on ROS is feasible.