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期刊信息
  • 中国标准连:ISSN1005-2895
  • 续出版物号: CN 33-1180/TH
  • 主管单位:轻工业杭州机电设计研究院
  • 主办单位:轻工业杭州机电设计研究院、中国轻工机械协会、中国轻工业机械总公司
  • 社  长:刘安江
  • 主  编:黄丽珍
  • 地  址:杭州市余杭区高教路970号西溪联合科技广场4-711
  • 电子邮件:qgjxzz@126.com
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王好, 范平清, 王岩松, 李聪.基于ROS平台的机械臂精确控制研究[J].轻工机械,2018,36(6):42-47
基于ROS平台的机械臂精确控制研究
Research on Precise Control of Robot Arm Based on ROS Platform
  
DOI:10.3969/j.issn.1005 2895.2018.06.009
中文关键词:  机械臂  开源软件平台  RRTconnect算法  运动规划  PID控制  计算力矩控制
英文关键词:robot arm  ROS (robot operating system)  RRTconnect algorithm  motion planning  PID controller  computed torque controller
基金项目:国家青年自然科学基金 (51505275);国家自然科学基金 (51675324)
作者单位
王好, 范平清, 王岩松, 李聪 上海工程技术大学 机械与汽车工程学院 上海201620 
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中文摘要:
      针对传统机器人虚拟控制与仿真平台在进行机器人运动控制时控制系统设计工作量大、可移植性差和开发难度高等问题,提出了一种基于开源软件平台(robot operating system,ROS)机械臂运动控制的方法。以六自由度机械臂为研究对象,首先基于ROS平台搭建机械臂控制架构,其次利用RRTconnect(连接性快速拓展随机树)算法对机械臂运动轨迹进行规划,随后分别采用PID控制器和计算力矩控制器控制机械臂沿着规划轨迹运动,最后利用MATLAB软件对机械臂运动过程中各关节的位置、速度等信息进行分析,比较2种控制器控制效果。仿真结果表明利用非线性的计算力矩控制器能够得到比较小的轨迹跟踪误差且控制速度更快。研究表明在ROS平台下,非线性控制器性能更优越。
英文摘要:
      In order to solve the problems of large workload, poor portability and high difficulty in the development of the traditional robot virtual control and simulation platform for robot motion control, a kind of manipulator motion control method based on an open source software platform (robot operating system,ROS) was put forward. In this paper, the manipulator with six degrees of freedom was taken as the research object. Firstly, the robot control architecture based on ROS platform was built. Secondly, based on the RRTconnect algorithm, [JP2]the motion planning of the manipulator was carried out. Then the PID controller and the computed torque controller were used to control the manipulator motion along the planning trajectory respectively. Finally, the MATLAB software was used to analyze the position, speed and other [JP]information of each joint during the movement of the manipulator to compare the control effect of the two controllers. The simulation results show that the nonlinear computed torque controller can obtain relatively small trajectory tracking error and the control speed is faster. It indicates that under the ROS platform, the nonlinear controller has better performance.
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