Development of dual-arm mobile robot platform based on ROS

Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designs a dual-arm mobile platform based on ROS (Robot Operating System), introduces the hardware components of the platform, builds a simulation platform and designs the actual software control framework, and finally through the design of the dual-robot coupled motion experiment, verifies the feasibility of the platform’s design. The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.

针对双臂机器人与移动机器人在实际应用中的需求，本文基于ROS（Robot Operating System）设计了一款双臂移动平台，介绍了该平台的硬件组成，搭建了仿真平台并设计了实用的软件控制框架；最终通过设计双机器人协同运动实验，验证了该平台设计方案的可行性。该移动平台可满足多样化的应用需求，为后续研发奠定了基础。