ROS下基于EtherCAT的串联机器人控制系统  

Control system of serial robot based on ROS and EtherCAT

作　　者：张颖 平雪良 王晨学 仇恒坦 ZHANG Ying, PING Xue-liang, WANG Chen-xue, QIU Heng-tan(Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering,Jiangnan University, Wuxi 214122,Chin)

机构地区：[1]江南大学机械工程学院江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《传感器与微系统》2018年第3期106-109,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61305016)

摘　　要：针对传统工业串联机器人控制系统大多面向特定对象,系统开发工作量大,可移植性差,代码复用率低等不足,提出了采用开源机器人操作系统(ROS)为平台,利用开源IgH EtherCAT主站实现控制系统和驱动器Ethercat通信,通过建立统一机器人描述格式(URDF)模型,结合moveit!提供的开源运动规划库(OMPL)进行上层运动规划,设计开发了具有开放性、可移植性和可扩展性高的机器人运动控制系统。使用快速扩展随机树(RRT)相关算法对控制系统进行试验验证,结果表明:控制系统能够有效完成运动控制并适用于其他类型的机器人。Aiming at shortcomings of traditional industrial serial robot control system is mainly used for a particular object,big workload of system development,poor portability,low code reuse rate,propose to design and develop a new robot motion control system with high openness,portability and scalability by using the popular open source robot operating system（ ROS） as a platform,open source IgH EtherCAT master station to set up EtherCAT communication between control system and actuator,using ROS platform to establish URDF model for robot,combined with movement plan library OMPL provided by moveit! for upper motion planning. Using relative algorithms of RRT for experimental verification and the result shows that this control system can effectively complete motion control,and this control system can be applied to other kinds of robot.

关 键 词：机器人操作系统 串联机器人 ETHERCAT 统一机器人描述格式模型 moveit! 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]