Handling Robot Control System Design Based On ROS

Handling robot technology is a necessary technology in the current form of China's economic development,and is also a guaranteed condition to ensure the smooth transition of China's manufacturing industry to technology-intensive.In the background of the current hot development of service robots,this paper gives a set of low-cost ROS-based handling robot control system design and implementation scheme with the help of the existing successful experience of practical application of robot control,and successfully transforms the electric stacker truck,which is common in the market now,into a kind of handling robot.The research mainly includes the following parts.Firstly,the thesis specifies the design requirements of the system with the actual needs of the factory end,and gives the overall hardware design framework of the system according to the design requirements,as well as the overall design scheme and overall flow of the software.The hardware mainly includes the selection of the host computer,core motion controller,Li DAR and sensor modules,etc.The prototype of the handling robot and each control unit of the extended functions are studied in depth.By analyzing the control signal measurement between each execution link in the control unit,the transmission protocol,coding standard and control signal conversion in each link of the system are determined.Then a kinematic model is established for the handling robot,and the tracking of the reference trajectory is realized by using the model prediction algorithm according to the feedforward-feedback control principle;meanwhile,for the disadvantages of the original model prediction algorithm such as poor real-time performance of the quadratic programming solver and large computational data,an improved original pairwise neural network quadratic programming solver method is proposed,and the Liapunov The stability and convergence of the controller are analyzed by the stability analysis method,and the tracking performance of the improved controller is verified.Finally,the trajectory tracking algorithm was experimentally verified in three experiments.In the first set of experiments,the pure tracking algorithm,Stanly algorithm and model predictive control algorithm are compared and simulated;in the second set of experiments,the improved model predictive control algorithm is simulated and verified at different speeds using the established handling robot model;in the third set of experiments,the improved model predictive control algorithm is applied to the handling robot for practical engineering tests under working conditions.The results of the three sets of experiments show that the ROS-based handling robot control system solution given in this paper can achieve the system design requirements given at the factory end,and the system can complete trajectory tracking and handling of goods,which verifies the practicality of the robot control system and the effectiveness of the algorithm.