Gazebo是一個三維多機器人動力學仿真平臺，它能夠模擬復雜和現實的環境中關節型機器人。* Y2 Y5 o, u) o
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Gazebo for solidworks是一個將solidworks機器人模型，轉換為Gabezo平臺能識別的機器人模型的插件。6 h8 {% ?! q; z- t" X
在solidworks中打開需要轉換的機器人模型
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! w# }& k3 F4 r& R0 X/ MCollision models should be created for each link in the robot. These models should have simpler geometry and only keep the important features of the link they represent in order to not slow down the simulations. Once the collision models are created, they should be inserted into the assembly and put into a second configuration. % u0 q, {- u b1 Z$ H" h
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0 O' \) d* D! X* `9 v啟用Gazebo工具條上的joint editor: E3 t7 q9 h0 ]1 [) D
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1 d3 B4 I; C. m; `0 f打開edit link屬性管理器. Click on any link in the window to select that link. To add a sub-Link, click on the plus button. Click the minus button to delete the selected link, and all of its sub links. You can also rename the selected link in the Link Name box just below the tree.
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定義link組件
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+ d, T& [' f+ Q# O5 Z5 }添加模型到link8 Z* Q- w3 x4 g8 J& I% z
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9 p) J6 ?8 ]* m) z定義關節
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$ k& O6 s$ z, z' [7 b- p設置關節類型
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, }. b8 F3 w3 M; x1 g+ P! L6 }設置關節軸線
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; o6 E( n6 V2 F. o7 J% h l4 f設置關節限位
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+ p3 Q/ B2 Y# W1 J0 ?8 L7 s打開manager robot窗口
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0 ~6 K5 i5 |$ t命名機器人模型
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輸出模型$ s7 @8 o2 N4 l7 P: ]% f
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發表于 2015-5-11 22:39:34
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