基于ROS机械臂实时控制系统的研究现状和趋势分析
2022,30(3):1-7
摘要：为了实现机械臂的实时控制，满足工业自动化的需求，针对Linux系统下机械臂实时控制系统展开调研；叙述了当前机械臂实时控制的研究背景和有关于ROS（Robot Operating System）平台下机械臂实时控制系统的国内外发展现状；同时重点指出了Linux系统中进行实时性控制的解决方案以及使用的工具，总结了相关研究中解决实时控制系统的技术；结合机械臂实时控制的技术研究特点和目前存在的不足分析了未来的发展趋势。
关键词：ROS;机械臂;实时控制;Linux;运动规划
Research status and trend analysis of real time control system of robot arm based on ROS
Abstract：In order to implement the real-time control of the robotic arm and meet the needs of industrial automation, The real-time control system of robot arm under Linux system is investigated; it describes the current research background of the real-time control of the robotic arm and introduces the latest domestic and foreign development status of the robotic arm real-time control system under the ROS platform; at the same time, it focuses on the real-time control solutions and tools used in the Linux system, and summarizes the relevant technology which solve the real-time control system; Acoording to the technical characteristics of the real-time control of the robotic arm and current deficiencies, the future development trends is analysed.
Key words：robotic arm; ROS; real-time control; linux;motion planning
收稿日期：2021-08-27
基金项目：北京市自然科学基金（项目号：4204097，L202020），国家自然科学基金（项目号：62003005，62103007），北京市教委基本科研业务费，北京市教委科研计划资助（项目号：KM202110009009）
