基于ROS的蛇形机器人控制系统设计  

Design of a Snake Robot Control System Based on ROS

作　　者：齐伟 迎春[1] 陈雪艳[1,2] 范晓静[1] 吴赟 刘斌 QI Wei;Yingchun;CHEN Xueyan;FAN Xiaojing;WU Yun;LIU Bin(College of Engineering,Inner Mongolia Minzu University,Tongliao 028043,China;Key Laboratory of Intelligent Manufacturing Technology,Inner Mongolia Minzu University,Tongliao 028043,China)

机构地区：[1]内蒙古民族大学工学院,内蒙古通辽028043 [2]内蒙古民族大学智能制造技术重点实验室,内蒙古通辽028043

出　　处：《内蒙古民族大学学报（自然科学版）》2024年第4期63-66,共4页Journal of Inner Mongolia Minzu University：Natural Sciences Edition

基　　金：内蒙古自治区自然科学基金项目(2021LHMS06008,2024LHMS06016);内蒙古自治区高等学校科学研究项目(NJZZ21028);内蒙古自治区直属高校基本科研业务费项目(GXKY22123,GXKY22045);内蒙古民族大学博士科研启动基金项目(BS505)。

摘　　要：蛇形机器人具有超冗余度的躯干结构和多样化的移动步态。为验证其控制算法,需要一个稳定可靠且具备强扩展性的控制系统。设计开发了一种由正交关节单元组成的蛇形机器人,并提出基于ROS(Robot Operating System)的控制系统设计方案。该方案将控制系统分为应用层、决策层和运动控制层,各层之间分工明确且耦合性低,从而提高了系统的稳定性和扩展性。采用曲线离散法规划蛇形机器人的运动步态,并进行蜿蜒运动和侧移运动测试。实验结果表明,该运动控制策略对机器人有效且设计方案具有可行性和实用性。The snake robot features a highly redundant body structure and diverse patterns of movement.To val-idate its control algorithm,a stable,reliable and highly scalable control system is required.In this study,we designed and developed a snake robot consisting of orthogonal joint units and proposed a control system design based on the ROS(Robot Operating System).The control system is divided into application layer,decision layer and motion con-trol layer,with clear division of responsibilities and low coupling,thereby enhancing system stability and scalability.The motion patterns of the snake robot were planned using the curve discretization method and tests were conducted for serpentine locomotion and sidewinding locomotion.Experimental results show that the basic motion control strate-gy is effective for the robot,demonstrating the feasibility and practicality of the design scheme.

关 键 词：蛇形机器人 ROS 控制系统 蜿蜒运动 侧移运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]