ROS下基于EtherCAT的串联机器人控制系统

针对传统工业串联机器人控制系统大多面向特定对象,系统开发工作量大,可移植性差,代码复用率低等不足,提出了采用开源机器人操作系统(ROS)为平台,利用开源IgH EtherCAT主站实现控制系统和驱动器Ethercat通信,通过建立统一机器人描述格式(URDF)模型,结合moveit!提供的开源运动规划库(OMPL)进行上层运动规划,设计开发了具有开放性、可移植性和可扩展性高的机器人运动控制系统.使用快速扩展随机树(RRT)相关算法对控制系统进行试验验证,结果表明:控制系统能够有效完成运动控制并适用于其他类型的机器人.

Control system of serial robot based on ROS and EtherCAT

Aiming at shortcomings of traditional industrial serial robot control system is mainly used for a particular object,big workload of system development,poor portability,low code reuse rate,propose to design and develop a new robot motion control system with high openness,portability and scalability by using the popular open source robot operating system(ROS)as a platform,open source IgH EtherCAT master station to set up EtherCAT communication between control system and actuator,using ROS platform to establish URDF model for robot, combined with movement plan library OMPL provided by moveit!for upper motion planning. Using relative algorithms of RRT for experimental verification and the result shows that this control system can effectively complete motion control,and this control system can be applied to other kinds of robot.