基于EtherCAT总线的ROS运动控制器设计与实现

Design and Implementation of ROS Motion Controller Based on Ether CAT Bus

提出一种基于EtherCAT总线的ROS系统运动控制器设计,通过示教方式和人机交互方式实现对机器人的运动控制.最终完成控制器测试实验,分别对示教点动、示教再现及人机交互的方式进行测试,结果表明本设计可以有效的实现SCARA机器人的运动控制.

new type of system motion controller based on Ether CAT and ROS is presented in this paper to realize the motion control of the robot by means of teaching and human-computer interaction.Finally,the paper completes the controller test experiment,testing the ways of teaching point movement,teaching and reproduction and human-computer interaction,and the result shows that this design can effectively control the motion of SCARA robot.