基于ROS的羽毛球机器人上体控制系统设计

Control System Design for Badminton Robot Upper Body Based on ROS

设计了一种基于四轮底盘的四自由度羽毛球挥拍系统,推导出模型的运动学正逆解、五项式插值算法并挑选合适的运动规划算法。针对车体上部控制系统运动规划中存在系统设计工作量巨大、移植困难等问题,提出了使用开源机器人操作系统(robot operating system,ROS)作为上体控制系统搭建的平台。在ROS中,导入设计好的机器人三维模型,可在可视化工具RViz中显示。使用Move It!验证推导的正逆解算法和五项插值算法,最终根据实验数据选择合适的运动规划算法。实验结果表明,以ROS平台为基础,可快速设计出满足要求的羽毛球机器人上体控制系统。

In this paper,a four-degree-of-freedom badminton robot swing system based on four-wheel chassis is designed,we derive the kinematic inverse solution of the badminton robot model,use the quintic polynomial interpolation for smoothing control and select the appropriate motion planning algorithm. Aiming at the problems such as huge system design workload and difficulty in transplantation,the open source ROS（ robot operating system） is proposed as the platform for the upper body control system. In ROS,a welldeveloped robot 3 D model is introduced and can be displayed in the visualization tool RViz. We can use Move It! to verify the kinematic inverse solution algorithm,the quintic polynomial interpolation algorithm,and select the appropriate motion planning algorithm according to the experimental data. The results show that the design of control system for badminton robot swing system based on ROS to satisfy the work requirement can be fast and efficient.