基于ROS的机械臂控制系统设计

The Design of Control System for Robot Arm Based on ROS

针对传统机器人控制系统面对特定对象时,系统设计工作量大、可移植性差的问题,提出采用国际流行的开源机器人操作系统(ROS)为平台构建机器人控制系统,并以自制SCARA型机械臂为例说明系统设计方法。使用URDF格式文件导入机器人数据,在ROS可视化工具RViz上显示三维模型。使用Move It!完成机械臂运动规划,并通过自定义逆解算法加快运算速度。最终根据具体硬件将PVT运动数据转换为实际运动。实验结果表明,以ROS为基础可快速高效地设计出满足工作要求的机械臂控制系统。

For the problem that the design of traditional robot control system for a specific application needs lots of work and is often not reusable, we proposed a solution by designing the control system basing on the worldwide used open source robot operating system （ROS） , and gave an example of our self-made SCARA robot arm to show the detail design method. We used the URDF file which contained robot data to show the 3D model of our robot in RViz, the visualization tool for ROS. We used MoveIt! to make motion planning of the robot arm, and accelerated the computing speed by applying custom inverse kinematics solution. We finally made the output PVT data into real arm moving by concrete hardware. The results show that the design of control system for robot arm based on ROS to satisfy the work requirement can be fast and efficient.