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	Mobile Manipulation Task Simulation using ROS with MoveIt
	Hao Deng; Jing Xiong; Zeyang Xia
	2017
会议日期	2017
会议地点	Okinawa, Japan
英文摘要	Visualized simulation has always been one of the most flexible techniques for quick verification of prototype or algorithms. In this paper, we illustrate a simple and effective method of how to implement the simulation of mobile manipulation task using Robot Operation System (ROS) with MoveIt. First, we propose a quick and modular architecture which includes the entire configuration process of system modeling, kinematics, control, and visualization. Then, we demonstrated its application on simulation of a mobile manipulation task in the automatic production line. Experimental results have shown that the proposed architecture achieves an easy configuration, a good integration and functional visualization for manipulation simulation
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/12163]
专题	深圳先进技术研究院_医工所
作者单位	2017
推荐引用方式 GB/T 7714	Hao Deng,Jing Xiong,Zeyang Xia. Mobile Manipulation Task Simulation using ROS with MoveIt[C]. 见:. Okinawa, Japan. 2017.

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