抓取机器人控制系统设计

Design of Control System of Grab Robot

针对机械化、重复化零件抓取问题,并且以降低研发成本为指向,该研究在充分分析机器人的结构和工作流程的基础上,增加了末端执行器,设计了一款基于ROS的抓取机器人控制系统。通过在rviz界面上操作实现对于抓取机器人的控制和实时监控。并根据抓取工作的需要和流程,完成机器人的控制系统流程设计与控制系统编程;后续的仿真实验和实物控制实验结果表明,搭建的抓取机器人的控制系统具有较高的鲁棒性和实时性。该控制系统能够满足机械化、重复化零件抓取任务,能够有效提高企业的生产效率,提高企业竞争力,降低企业成本。

For the mechanized and repetitive part grabbing problem,and with the research and development cost reduced,this research adds a terminal actuator and designs a ROS-based grab robot control based on the full analysis of the robot structure and workflow system.Control and real-time monitoring of the grab robot is achieved by operating on the rviz interface.According to the needs and processes of the grabbing work,the flow control design and control system programming of the robot is completed.The subsequent simulation experiments and physical control experiments show that the control system of the built-up crawling robot has high robustness and real-time.The control system can meet the mechanized and repetitive parts grabbing tasks,and can effectively improve the production efficiency of the enterprise,improve the competitiveness of the enterprise,and reduce the cost of the enter⁃prise.