基于ROS机械臂实时控制系统的研究现状和趋势分析  

Research Status and Trend Analysis of Real Time Control System of Robot Arm Based on ROS

作　　者：曹洪鑫 张向慧 张忠海[2] 王红伟 王漪梦 CAO Hongxin;ZHANG Xianghui;ZHANG Zhonghai;WANG Hongwei;WANG Yimeng(North China University of Technology,Beijing 100144,China;Beijing Aerospace Measurement&Control Technology Co.,Ltd.,Beijing 100041,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100144 [2]北京航天测控技术有限公司,北京100041

出　　处：《计算机测量与控制》2022年第3期1-7,14,共8页Computer Measurement &Control

基　　金：国家自然科学基金(62003005,62103007);北京市自然科学基金(4204097,202020);北京市教委科研计划资助(KM202110009009)。

摘　　要：为了实现机械臂的实时控制,满足工业自动化的需求,针对Linux系统下机械臂实时控制系统展开调研;叙述了当前机械臂实时控制的研究背景和有关于ROS(robot operating system)平台下机械臂实时控制系统的国内外发展现状;同时重点指出了Linux系统中进行实时性控制的解决方案以及使用的工具,总结了相关研究中解决实时控制系统的技术;结合机械臂实时控制的技术研究特点和目前存在的不足分析了未来的发展趋势。In order to implement the real-time control of the robotic arm and meet the needs of industrial automation,the real-time control system of robot arm under Linux system is investigated;it describes the current research background of the real-time control of the robotic arm and introduces the latest domestic and international development status of the robotic arm real-time control system under the Robot Operating System(ROS) platform;at the same time,it focuses on the real-time control solutions and tools used in the Linux system,and the relevant technology is summarized to solve the real-time control system;acoording to the real time control technology of the robotic arm and the current deficiencies,the future development trend is analysed.

关 键 词：ROS 机械臂 实时控制 LINUX 运动规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP311.1[自动化与计算机技术—控制科学与工程]