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Robot control system based on ros and orocos

A control system and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high system development costs, not supporting real-time thread operations, and inability to fully utilize ROS and OROCOS

Active Publication Date: 2019-05-07
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But ROS currently does not support real-time thread operations
Open RobotControl Software (OROCOS) is also an open source robot control software programming framework, which is characterized by supporting real-time thread operations, but its openness and versatility are not as good as ROS
[0003] Therefore, at present, in some application schemes, OROCOS is used on ROS, but the existing technical schemes cannot constitute a complete robot controller software in terms of the built architecture, and cannot make full use of the characteristics of ROS and OROCOS, and the system development cost is high. poor control

Method used

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  • Robot control system based on ros and orocos
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  • Robot control system based on ros and orocos

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Embodiment Construction

[0016] The embodiment of the robot control system based on ROS and OROCOS of the present invention will be described below in conjunction with the accompanying drawings.

[0017] refer to figure 1 as shown, figure 1 It is a schematic structural diagram of a robot control system based on ROS and OROCOS according to an embodiment of the present invention, and the system includes: a general control module, an algorithm module and a communication management module;

[0018] The master control module is used to receive the control command input by the control terminal according to the pre-configured communication protocol interface; select and call the control command trigger function of the robot motion planning according to the control command; trigger the function through the first interface through the control command Call the response function of the corresponding robot motion planning in the algorithm module; the communication protocol developed by ICE (The Internet Communic...

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Abstract

The invention relates to a robot control system based on a ROS and an OROCOS. The system comprises a master control module, and an algorithm module. The master control module is used to receive a control instruction input by a control end according to a pre-configured communication protocol interface, selects and calls a control instruction trigger function of robot motion planning, and through the control instruction trigger function, calls a corresponding robot motion planning response function in the algorithm module through a first interface. The algorithm module is used to select a corresponding response function from the prestored robot motion planning through responding to a call instruction, and calculates control instruction data, and sends the control instruction data to a communication management module through a second interface. The master control module is used to select control instruction data and output the data to a control master station according to the control instruction data of the robot. The technology can form a completed robot controller software, to reduce development cost of a robot control system and improve control effect.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot control system based on ROS and OROCOS. Background technique [0002] Robot Operating System (ROS) is an open source robot operating system that provides a standardized, open source programming framework for robot developers. But ROS currently does not support real-time thread operations. Open RobotControl Software (OROCOS) is also an open source robot control software programming framework. It is characterized by supporting real-time thread operations, but its openness and versatility are not as good as ROS. [0003] Therefore, at present, in some application schemes, OROCOS is used on ROS, but the existing technical schemes cannot constitute a complete robot controller software in terms of the built architecture, and cannot make full use of the characteristics of ROS and OROCOS, and the system development cost is high. Poor control. Contents of the invention ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 阳方平
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD