ROS-based manipulator robot control system

Abstract

In order to realize the control of the robot manipulator, the control system of the robot manipulator was studied. On the premise of ensuring the robustness and real-time of the system, it is proposed to build a control system based on Ubuntu system combined with Robot Operating System (ROS), and use Controller Area Network (CAN) communication to build a robot manipulator. Finally, through the simulation experiment and the physical robot control experiment, the application effect of the robot manipulator control system is verified. The experimental results show that the robot manipulator control system has the basic working ability to control the coordinated robot for path planning, and can well establish the communication between the upper and lower machines and control the robot manipulator. At the same time, the control system has the characteristics of modularity, high portability, clear frame, and low delay.