Intelligent industrial mechanical arm driving system based on ROS system

Abstract

The invention discloses an intelligent industrial mechanical arm driving system based on an ROS system, and relates to the technical field of mechanical arm driving systems. The intelligent industrial mechanical arm driving system based on the ROS system comprises the ROS driving system, the ROS driving system is in signal connection with an air pressure driving module, a PLC control module and a DSP processing module, and terminals of the air pressure driving module, the PLC control module and the DSP processing module are in signal connection with an image acquisition module. According to the intelligent industrial mechanical arm driving system based on the ROS system, the mechanical arm can rotate, move and clamp in a noise-free mode, then the movement flexibility of the mechanical arm is guaranteed, then it is guaranteed that the movement form, the movement freedom degree, the grabbing quality and the stress condition of the mechanical arm can be optimized and executed in time, the movement accuracy of the mechanical arm is guaranteed, and the working efficiency is improved. And it is guaranteed that the arm waist joint, the shoulder joint, the elbow joint and the wrist joint of the mechanical arm and the gripper at the tail end are opened and closed flexibly and freely, and the clamping work stability of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robotic arm drive systems, in particular to an intelligent industrial robotic arm drive system based on a ROS system. Background technique [0002] ROS (Robot Operating System, hereinafter referred to as "ROS") is an open source meta-operating system suitable for robots. It provides the services that the operating system should have, including hardware abstraction, low-level device control, implementation of common functions, and inter-process messages. Delivery, as well as package management, also provides the tools and library functions needed to obtain, compile, write, and run code across computers. [0003] After consulting the literature, it is known that an intelligent industrial manipulator drive system based on the ROS system, for most of the existing intelligent industrial manipulator drive systems, in the process of moving, although they can move according to the instructions, but the current I...

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Problems solved by technology

[0003] After reviewing the literature, it is known that an intelligent industrial manipulator drive system based on the ROS system, although most of the existing intelligent industrial manipulator drive systems can move according to the instructions, but the current Most of the intelligent industrial manipulator drive systems of the ROS system cannot perform real-time analysis and simulation detection according to the instructions transmitted in the data in real time, and then cause the robotic arm of the robot to appear when executing the terminal command of the ROS system. The sensitivity of the movement is poor, which in turn causes the robot to be unable to optimize the data command in time, resulting in slow response, resulting in low efficiency of the mechanical arm movement and other problems

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