Control Design of Serial Climbing Robot Based on ROS Platform
In this paper,a five-axis series robot control system is designed based on ROS framework.The controller adopts multi-core control mode,and the complex calculation and real-time control are executed separately,which im-proves the system fluency.Genetic algorithm is used to solve the attitude of the target,which effectively improves the disadvantages of the original matrix inverse solution.In addition,the human-computer interaction adopts direct and in-direct control methods,and the visualization tool Rviz is combined with the target pose solving algorithm to achieve efficient robot control.The experimental results show that the direct control method can achieve fast response and flexible control with low delay,while the indirect control method can complete complex control tasks through simple interactive operation although it sacrifices part of response time.In general,the research provides reliable control sup-port for robot applications in various complex environments,and has important theoretical and practical significance.
series robotcontrol system designhuman-computer interactionattitude solving
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