基于ROS的机器人运动控制研究  

Robot Motion Control Research Based on ROS

作　　者：李铁军[1] 王晓撰 杨冬[1] LI Tie-jun;WANG Xiao-zhuan;YANG Dong(Institute of Intelligent Mechatronics, School of Mechanical Engineering, Hebei University of Technology, Tianjin 300132, China)

机构地区：[1]河北工业大学机械工程学院智能机电一体化研究所

出　　处：《组合机床与自动化加工技术》2019年第10期73-77,82,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家科技支撑计划(2013BAF07B00)

摘　　要：当前机器人控制研究成本高、效率低下,机器人操作平台ROS(Robot Operation System)开源编程资源丰富,是机器人控制研究的有效工具。为拓展机器人在非结构环境下机器人视觉受限的运动能力,文章基于ROS平台进行了机器人触力觉信息感知的运动控制方法研究。在ROS平台下机器人运动控制命令以消息发布订阅的形式传递,实现机器人在夹持操作后的运动规划控制。搭建机器人平台并进行了相关实验,验证了在ROS平台下与机器人通信并控制其运动的可行性。The related robot control research is inefficient and high cost, Robot Operation System (ROS) is an effective tool for robot control research due to its rich resources of open source programming. In order to expand the motion ability of robots in unstructured environments when its vision couldn’t work, this paper studied on motion control method of tactile information perception of robots based on ROS platform. Robot motion control commands are transmitted in the form of message publishing and subscribing under ROS platform to realize the motion planning control of the robot after clamping operation. A robot platform is built and relevant experiments are carried out to verify the feasibility of communicating with the robot and controlling its motion on the ROS platform.

关 键 词：机器人 ROS 夹持操作 运动控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]