摘要
传统机器人软件存在开发效率低和控制器通讯协议不一致等问题,针对这些问题提出用机器人操作系统(robot operation system,ROS)软件框架来提高软件开发效率;用高性能的工业控制协议CANopen作为控制器通讯方案;借助于模块化机械臂硬件平台以进一步提高软件开发速度;最后构建了基于ROS面向模块化机械臂的CANopen协议控制器通讯软件系统.实验证明,该方案下的通讯软件系统既具有构建过程高效,软件灵活性高的特点,又能满足一般机器人对实时性的要求.
The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication,aiming at these problems,the robot operating system(ROS)software framework was used to improve the efficiency of software development;the use of high performance industrial control protocol CANopen as the communication scheme of controller;and the help of modular manipulator hardware platform to further improve the speed of software development.Finally,the software system of controller communication by CANopen protocol based on ROS for modular manipulator was constructed.The experimental results show that the communication software system not only has the high developing efficiency and flexibility,but also meets the requirements for the real-time performance of the general robot.
作者
贾鹏飞
王容川
徐林森
陈丹惠
李开霞
JIA Pengfei;WANG Rongchuan;XYU Linsen;CHEN Danhui;LI Kaixia(Department of Automation,University of Science and Technology of China,Hefei 230027,China;Hefei Institutes of Physical Science of Chinese Academy of Sciences,Hefei 230059,China)
基金
国家自然基金(51405469)资助
