基于ROS平台的串联攀爬机器人控制设计
Control Design of Serial Climbing Robot Based on ROS Platform
宋雨 1王艳 2吕淼 2张昊博3
作者信息
- 1. 天津大学 电气自动化与信息工程学院,天津 300072;天津开发区中环系统电子工程股份有限公司,天津 300450;天津理工大学 电气工程与自动化学院,天津 300384
- 2. 天津开发区中环系统电子工程股份有限公司,天津 300450
- 3. 天津理工大学 电气工程与自动化学院,天津 300384
- 折叠
摘要
该文基于ROS框架设计了一种五轴串联机器人的控制系统.控制器采用多核心控制模式,复杂计算与实时控制分开执行,提升了系统流畅性.采用遗传算法进行目标姿态求解,有效改善了原始矩阵逆解存在的弊端.此外,人机交互采用直接与间接的控制方式,通过将可视化工具Rviz与目标位姿求解算法相结合,实现了高效的机器人控制.实验结果表明,直接控制方式能够以较低的延迟实现快速响应和灵活控制,而间接控制方式虽牺牲了部分响应时间,却能通过简单的交互操作完成复杂的控制任务.总体而言,该研究为机器人在各种复杂环境下的应用提供了可靠的控制支持,具有重要的理论和实践意义.
Abstract
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.
关键词
串联机器人/控制系统设计/人机交互/姿态求解Key words
series robot/control system design/human-computer interaction/attitude solving引用本文复制引用
出版年
2024
NETL
NSTL
万方数据