基于ROS的协作机器人控制系统  

ROS-Based Collaborative Robot Control System

作　　者：邹洵 张帆[1] 张国胜[1] 马保平 张召颖 ZOU Xun;ZHANG Fan;ZHANG Guo-Sheng;MA Bao-Ping;ZHANG Zhao-Ying(School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 200072, China)

机构地区：[1]上海工程技术大学机械与汽车工程学院

出　　处：《计算机系统应用》2019年第7期96-100,共5页Computer Systems & Applications

基　　金：上海市科委生物医药领域科技支撑计划(17441901200)~~

摘　　要：为了实现协作机器人的控制,对协作机器人进行了控制系统研究,在保证系统鲁棒性和实时性的前提下,提出了在PC机上,构建基于Ubuntu系统下结合ROS,利用CAN通讯的方式,搭建协作机器人的控制系统.最后通过仿真实验和实体机器人控制实验,验证协作机器人控制系统应用效果.实验结果表明,该协作机器人控制系统具备控制协作机器人进行路径规划的基本工作能力,能够很好的建立上下位机的通讯,进行协作机器人控制.同时本控制系统具有模块化、可移植性高、框架清晰、低延时等特点.In order to realize the control of the cooperative robot,the control system of the cooperative robot was studied.On the premise of ensuring the robustness and real-time of the system,it is proposed to build a control system based on Ubuntu system combined with Robot Operating System (ROS),and use Controller Area Network (CAN) communication to build a collaborative robot.Finally,through the simulation experiment and the physical robot control experiment,the application effect of the collaborative robot control system is verified.The experimental results show that the cooperative robot control system has the basic working ability to control the coordinated robot for path planning,and can well establish the communication between the upper and lower machines and control the cooperative robot.At the same time,the control system has the characteristics of modularity,high portability,clear frame,and low delay.

关 键 词：协作机器人 ROS系统 控制系统设计 通信接口 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]