基于ROS的可重構(gòu)模塊化機(jī)器人控制
發(fā)布時間：2019-05-29 18:20
【摘要】：可重構(gòu)模塊化機(jī)器人可以靈活構(gòu)建機(jī)器人的運動學(xué)構(gòu)型,以更好地完成現(xiàn)場任務(wù)。模塊化機(jī)器人機(jī)電系統(tǒng)開發(fā)逐步完善,而對應(yīng)的軟件開發(fā)則仍然面臨著不少挑戰(zhàn),這些挑戰(zhàn)有:1)靈活性:對應(yīng)于機(jī)器人本體運動學(xué)構(gòu)型的多變性,系統(tǒng)軟件應(yīng)當(dāng)具備靈活應(yīng)對多種構(gòu)型的能力,而非只是針對少數(shù)可能的情況,這需要自動建模技術(shù)實現(xiàn);2)易用性:可重構(gòu)模塊化機(jī)器人廣泛應(yīng)用現(xiàn)場作業(yè)的前提;3)開放性:易于傳感集成,二次開發(fā);4)標(biāo)準(zhǔn)化:降低開發(fā)周期,提高系統(tǒng)可維護(hù)性。面對上述挑戰(zhàn),本文在可重構(gòu)模塊化機(jī)器人平臺上,開發(fā)基于ROS(Robot Operating System)的軟件框架,并試圖回答這樣一個問題:如何利用ROS的開放框架實現(xiàn)針對模塊化機(jī)器人的控制,同時系統(tǒng)不特定針對某一個或某一些模塊化機(jī)器人運動學(xué)構(gòu)型,而是對于所有可能的情況都同樣適用。具體而言,本文主要研究了以下三方面內(nèi)容:1.利用ROS中描述機(jī)器人的方法URDF/Xacro建立各模塊類型的模型描述,可重構(gòu)模塊化機(jī)器人將可以用其組成模塊以及模塊間的連接關(guān)系來表達(dá),通過指定模塊化機(jī)器人的運動學(xué)結(jié)構(gòu),則可以自動生成對應(yīng)機(jī)器人的文件系統(tǒng);2.利用外部相機(jī)識別每個模塊上的標(biāo)志,然后根據(jù)模塊連接的幾何約束判斷模塊間的連接關(guān)系,從而識別整個機(jī)器人的運動學(xué)結(jié)構(gòu),最后利用模塊的描述文件自動生成機(jī)器人模型并通過RViz顯示;3.利用ros_canopen程序包實現(xiàn)ROS與機(jī)器人的CANopen協(xié)議通信,在此基礎(chǔ)上以模塊化操作臂為例測試了機(jī)器人的關(guān)節(jié)空間控制、末端笛卡爾空間控制、離線數(shù)據(jù)復(fù)現(xiàn)。采用了基于數(shù)值方法的通用運動學(xué)求解器TRACK-IK求解機(jī)器人運動學(xué),使得程序適用于其它構(gòu)型的模塊化機(jī)器人。本文利用ROS的機(jī)制實現(xiàn)一種運動學(xué)構(gòu)型無關(guān)的控制框架,而構(gòu)型相關(guān)的信息則通過模板自動生成,從而把模塊化機(jī)器人豐富的構(gòu)型變化封裝起來,降低模塊化機(jī)器人應(yīng)用的難度,促使模塊化機(jī)器人最終走向廣泛應(yīng)用。
[Abstract]:The reconfigurable modular robot can flexibly construct the kinematic configuration of the robot in order to better complete the field tasks. The development of modular robot electromechanical system is gradually improved, but the corresponding software development is still facing many challenges, these challenges are as follows: 1) flexibility: corresponding to the variability of the kinematic configuration of robot ontology, The system software should have the ability to deal with a variety of configurations flexibly, not just for a few possible situations, which needs to be realized by automatic modeling technology. 2) ease of use: the premise that reconfigurable modular robot is widely used in field operation; 3) openness: easy sensor integration, secondary development; 4) standardization: reduce the development cycle and improve the system serviceability. In the face of the above challenges, this paper develops a software framework based on ROS (Robot Operating System) on the platform of reconfigurable modular robot, and tries to answer such a question: how to use the open framework of ROS to realize the control of modular robot. At the same time, the system is not specific to one or some modular robot kinematic configurations, but is also applicable to all possible cases. Specifically, this paper mainly studies the following three aspects: 1. The model description of each module type is established by using URDF/Xacro, which describes the robot in ROS. The reconfigurable modular robot can be expressed by its composition module and the connection relationship between modules, and the kinematic structure of the modular robot can be specified. The file system of the corresponding robot can be generated automatically. 2. The external camera is used to identify the marks on each module, and then the connection relationship between the modules is judged according to the geometric constraints connected by the module, so as to identify the kinematic structure of the whole robot. Finally, the robot model is automatically generated by using the description file of the module and displayed by RViz. 3. The communication between ROS and robot CANopen protocol is realized by using ros_canopen package. On this basis, the joint space control, end Cartesian space control and offline data reproduction of robot are tested by taking modular manipulator as an example. The general kinematic solver TRACK-IK based on numerical method is used to solve the robot kinematics, which makes the program suitable for other modular robots. In this paper, a kinematic configuration-independent control framework is implemented by using the mechanism of ROS, and the configuration-related information is automatically generated by templates, thus encapsulating the rich configuration changes of modular robots. Reduce the difficulty of modular robot application, and promote the modular robot to be widely used at last.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
本文編號：2488123
[Abstract]:The reconfigurable modular robot can flexibly construct the kinematic configuration of the robot in order to better complete the field tasks. The development of modular robot electromechanical system is gradually improved, but the corresponding software development is still facing many challenges, these challenges are as follows: 1) flexibility: corresponding to the variability of the kinematic configuration of robot ontology, The system software should have the ability to deal with a variety of configurations flexibly, not just for a few possible situations, which needs to be realized by automatic modeling technology. 2) ease of use: the premise that reconfigurable modular robot is widely used in field operation; 3) openness: easy sensor integration, secondary development; 4) standardization: reduce the development cycle and improve the system serviceability. In the face of the above challenges, this paper develops a software framework based on ROS (Robot Operating System) on the platform of reconfigurable modular robot, and tries to answer such a question: how to use the open framework of ROS to realize the control of modular robot. At the same time, the system is not specific to one or some modular robot kinematic configurations, but is also applicable to all possible cases. Specifically, this paper mainly studies the following three aspects: 1. The model description of each module type is established by using URDF/Xacro, which describes the robot in ROS. The reconfigurable modular robot can be expressed by its composition module and the connection relationship between modules, and the kinematic structure of the modular robot can be specified. The file system of the corresponding robot can be generated automatically. 2. The external camera is used to identify the marks on each module, and then the connection relationship between the modules is judged according to the geometric constraints connected by the module, so as to identify the kinematic structure of the whole robot. Finally, the robot model is automatically generated by using the description file of the module and displayed by RViz. 3. The communication between ROS and robot CANopen protocol is realized by using ros_canopen package. On this basis, the joint space control, end Cartesian space control and offline data reproduction of robot are tested by taking modular manipulator as an example. The general kinematic solver TRACK-IK based on numerical method is used to solve the robot kinematics, which makes the program suitable for other modular robots. In this paper, a kinematic configuration-independent control framework is implemented by using the mechanism of ROS, and the configuration-related information is automatically generated by templates, thus encapsulating the rich configuration changes of modular robots. Reduce the difficulty of modular robot application, and promote the modular robot to be widely used at last.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
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