基于ROS和IgH主站的多关节机器人控制系统设计  

Design of Multi-joint Robot Control System Based on ROS and IGH Master Station

作　　者：张洪 黄昭 张小勇 王通德 ZHANG Hong;HUANG Zhao;ZHANG Xiao-yong;WANG Tong-de(School of Mechanical Engineering,Jiangnan University,Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment&Technology,Wuxi 214122,China;Jiangsu Nari Hengchi Electrical Equipment Co.,Ltd.,Wuxi 214161,China)

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 [2]江苏南瑞恒驰电气装备有限公司,江苏无锡214161

出　　处：《仪表技术与传感器》2022年第3期57-62,共6页Instrument Technique and Sensor

摘　　要：针对基于现场总线的多关节机器人系统响应速度慢、通信带宽低以及实时性差等方面的问题,基于ROS和IgH主站,设计了一种多关节机器人控制系统。首先,选取合适的EtherCAT通讯周期、同步信号周期以及轨迹插补周期,将IgH主站和ROS平台融合;其次,对多关节机器人进行运动学建模,建立URDF模型;然后,结合ROS提供的Moveit!功能包集,设计了实时性好、同步性高且性能稳定的机器人控制系统。最后,通过搭建完整的机器人平台进行实验,测量运行过程中的实时任务周期以及轨迹变化。实验结果表明该机器人控制系统具有良好的实时性、同步性以及可靠性。To solve the problems of slow response speed, low communication bandwidth and poor real-time capability of multi-joint robot system based on field bus, a control system of multi-joint robot was designed upon ROS and IgH master station.Firstly, the IgH master station and ROS platform were integrated through selecting appropriate communication cycle, synchronous signal cycle and trajectory interpolation cycle of EtherCAT.Secondly, the URDF model was established based on the kinematic model of the multi-joint robot.Then, a robot control system with good real-time capability, high synchronicity and reliable performance was designed by the combination of Moveit! provided by ROS.Finally, a complete robot platform was built for experiments to measure the real-time task cycle and trajectory changes during operation.The experiment results show that the robot control system possesses good real-time capability, synchronicity and reliability.

关 键 词：机器人控制系统 ETHERCAT 实时内核 分布式时钟 Moveit! 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]