基于ROS的轻量化机械臂系统设计  

Design of ROS-based lightweight manipulator system

作　　者：阳康 张静[1,2] 蔡文涛 张永波 张横 饶爽 YANG Kang;ZHANG Jing;CAI Wentao;ZHANG Yongbo;ZHANG Heng;RAO Shuang(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China;School of Information Science and Technology,China University of Science and Technology,Hefei 230026,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]中国科学技术大学信息科学技术学院,安徽合肥230026

出　　处：《传感器与微系统》2020年第12期84-87,共4页Transducer and Microsystem Technologies

基　　金：四川省教育厅重点科研项目(18ZA0492);四川省大学生创新创业训练项目(201810619071)。

摘　　要：针对目前工业机械臂不适用于广泛的教育行业和不开源的现状,设计出了一种结构简单、低成本、可靠性高的机械臂系统。采用Raspberry Pi 3B+搭载机器人操作系统(ROS)作为主控系统的核心,通过Rviz可视化工具显示机械臂三维模型,使用Moveit完成轨迹规划。引入转速、电流双闭环调速系统,提高了六轴机械臂的稳定性。轻量化机械臂实验平台的实现,降低了系统复杂度,实现了控制系统的可移植性,使控制方式变得简单。实验结果表明:搭载ROS的轻量化机械臂不仅控制简单而且可稳定地完成动作。Aiming at the present situation that current industrial mechanical arm is not suitable for extensive education industry and is not open source,a mechanical arm system with simple structure,low cost and high reliability is designed.Raspberry Pi 3B+with ROS operating system is adopted as the core of the main control system.3D model for mechanical arm is displayed by Rviz visual tool and Moveit is used to complete the trajectory planning.The stability of the six-axis manipulator is improved by introducing double closed-loop speed regulation system of rotating speed,current.The implementation of the experimental platform of the lightweight manipulator reduces the system complexity,realizes the portability of the control system,and makes the control mode simple.The experimental results show that the ROS system is not only simple to control but also stable to complete the action.

关 键 词：轻量化 机器人操作系统(ROS) 机械臂 双闭环调速系统 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]