CN110216698A - A kind of mechanical arm remote control system based on ROS - Google Patents
A kind of mechanical arm remote control system based on ROS Download PDFInfo
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- CN110216698A CN110216698A CN201910179293.7A CN201910179293A CN110216698A CN 110216698 A CN110216698 A CN 110216698A CN 201910179293 A CN201910179293 A CN 201910179293A CN 110216698 A CN110216698 A CN 110216698A
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- mechanical arm
- ros
- personal computer
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- minicomputer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical arm remote control system based on ROS, including the mechanical arm platform and remote-controlled operation platform for using Ethernet to connect, the remote-controlled operation platform includes that minicomputer, display equipment and posture capture sensor, the mechanical arm platform includes industrial personal computer, industry camera and mechanical arm, the industrial personal computer and minicomputer carry and run ROS, manage the message transmission between each node or host by ROS.Present system is based on ROS system construction, it is capable of real-time acquisition human body right upper extremity movement posture and uses mechanical arm homing action in such a way that inverse kinematics resolves, live image is fed back into operator simultaneously, provides a kind of accurate, flexible, efficient solution for the remote operating of mechanical arm.
Description
Technical field
The present invention is applied to robotic technology field, is related to a kind of machine based on ROS suitable for remotely controlling mechanical arm
Tool arm remote control system.
Background technique
In fields such as industry, medical treatment, military affairs, mechanical arm is because of the ring that its precision is high, stability is good, can not work in the mankind
The advantages that running under border, is widely used, and greatly improves work efficiency.However, in some special circumstances, mechanical arm
Can not complete independently task, just human operator is needed to intervene at this time, real time remote control mechanical arm to complete relevant work.
Therefore mechanical arm remote control system is needed to complete manipulation of the people to mechanical arm.
ROS (Robot Operating System, that is, robot operating system) is designed exclusively for robot development person
Increase income robot software's platform, the service similar to operating system is provided, it includes hardware abstraction, device drives, function library, can
Depending on various functions such as chemical industry tool, message transmission and software package management.The core of ROS is node (node), node be one section to
The program of execution task and one can independently operated processes.It can be issued mutually between multiple nodes or subscription information
(message), and starting or termination can individually be controlled.All nodes may operate on a processor, can also be distributed
Formula operates on multiple processors.The exploitation that the system of this loose coupling formula is designed as robot bring very big flexibility with
It is portable.
Currently, most of remote control system is controlled using keyboard or handle on control mode, this kind of mode of operation
Control process is more single, can not state the motion characteristic of manpower, and difficulty is larger when need to execute compound action, man-machine interaction experience
It is not good enough.In the design of remote control system, most remote control systems are only that specific operating device and mechanical arm design, and are used
Flexibility is poor with portability, can not quick-replaceable different controller or actuator according to demand, be only able to satisfy a small number of fields
The use of conjunction.
Summary of the invention
In order to overcome the more single process of existing machinery arm operating system, flexibility and portable poor disadvantage,
The mechanical arm remote control system based on ROS that the present invention provides a kind of, the system are implemented on ROS system, are capable of real-time acquisition
And manpower movement is restored by mechanical arm, and live image can be fed back into operator simultaneously, it is mentioned for the remote operating of mechanical arm
A kind of flexible, practical solution is supplied.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of mechanical arm remote control system based on ROS, including mechanical arm platform and remote-controlled operation platform, and the two by with
Too net telecommunication, the remote-controlled operation platform include that minicomputer, display equipment and posture capture sensor, the mechanical arm
Platform includes industrial personal computer, industry camera and mechanical arm, and the industrial personal computer and minicomputer carry and run ROS, by ROS
Manage the message transmission between each node or host；
The posture captures the device that sensor is directly or indirectly measurement human upper limb posture, acquires human upper limb data
Afterwards, the minicomputer in remote-controlled operation platform is reached in real time by data link；The minicomputer receives posture capture
After the data of sensor, the model after the right limb of human body is rebuild is obtained by coordinate transform, thus obtains manpower relative to shoulder joint
Posture information.This posture information is sent out by the ROS node of the minicomputer according to certain frequency in the form of message topic
Cloth；
The industrial personal computer is stored with the kinetic parameter of mechanical arm, subscribes to minicomputer publication by ROS node
Posture information, meanwhile, inverse kinematics resolving is carried out to object pose information according to the kinetic parameter of mechanical arm, obtains machinery
Arm reaches each joint angles when object pose, finally, industrial personal computer sends corresponding control according to joint angle information, to mechanical arm
Instruction；
The mechanical arm is the executing agency of system, and completion is corresponding dynamic after receiving the control instruction that industrial personal computer issues
Make,.Meanwhile also the status information feedback of itself can be returned industrial personal computer；
The industry camera is transmitted to industrial personal computer for the image information around collection machinery arm, and industrial personal computer is to disappear
The form of breath is transmitted back to the minicomputer of remote-controlled operation platform；
The display equipment is for showing realtime graphic, mechanical arm state and people's limbs model that minicomputer receives
Information facilitates operator to carry out remote operating and can judge current system mode.
Further, control process includes following below scheme:
(1) posture in remote-controlled operation platform captures sensor measurement and obtains human body attitude, is sent to minicomputer；
(2) after minicomputer receives the data that posture captures sensor, the right limb weight of human body is obtained by coordinate transform
Thus model after building obtains posture information of the manpower relative to shoulder joint, the posture information is in the form of ROS message by message
Publisher node publication；
(3) industrial personal computer in mechanical arm platform is connected by Ethernet with the minicomputer in remote-controlled operation platform, the two
It is carried out telecommunication based on ROS Distributed Communication Technology, the industrial personal computer in mechanical arm platform subscribes to small-sized calculating by ROS system
The manpower posture information of machine publication；
(4) industrial personal computer carries out inverse kinematics resolving to object pose information according to the kinetic parameter of mechanical arm, obtains machine
Tool arm reaches each joint angles when object pose；
(5) industrial personal computer sends corresponding control instruction to mechanical arm according to joint angle information.
Further, image transmitting process includes following below scheme:
(1) the work image of industry camera shooting mechanical arm working site, and the industry control being transmitted in mechanical arm platform
Machine；
(2) after industrial personal computer obtains image, image is compressed frame by frame, and compressed image is led in form of a message
Cross the publication of ROS node；
(3) minicomputer in remote-controlled operation platform subscribes to the image data of industrial personal computer publication by ROS node, and should
Image is by showing that equipment plays in real time；
(4) operator can manipulate mechanical arm according to the realtime graphic of display.
Further, the posture captures that sensor includes and is not limited to inertial sensor, depth camera, optics movement are caught
Catch the equipment that system etc. can directly or indirectly measure human upper limb posture.
The method of the coordinate transform are as follows: the right limb of human body is abstracted as shoulder joint, elbow joint, wrist joint and three sections of connecting rods
Combination, coordinate transform are the posture information of each structure of human upper limb obtained according to measurement, are constructed between different joint coordinate systems
Transformation relation, according to Chasles theorem, the displacement of rigid body broad sense is equivalent to a translation plus a rotation, and translation transformation makes
It is indicated with coordinate (x, y, z), rotation transformation is indicated according to unit quaternion formula q=w+ai+bj+ck, and wherein w, a, b, c meet
w2+a2+b2+c2=1.
Further, posture information calculation method of the manpower relative to shoulder joint are as follows: take out human body right upper extremity model
As for joint tree, wherein shoulder joint, elbow joint and wrist joint respectively safeguard the joint coordinate system of its own, using shoulder joint as joint
The root node of tree traverses all joints of human body right upper extremity, manpower can be obtained relative to root node by above-mentioned coordinate transform
The posture information of (i.e. shoulder joint).
In the present invention, the communication mode between the mechanical arm platform and remote-controlled operation platform is based on ROS Distributed Communication Technology.
The Integration ofTechnology can make mutually to issue between the node for running on different computing platforms, subscribe to message in ROS.
Compared with prior art, the present invention has following advantageous effects:
(1) relative pose information of the control mode in present system based on manpower can accurately go back protoplast
The motion conditions of hand in space, improve the accuracy of system, and become easier to operating process.
(2) present system is built based on Open Source Platform ROS, and the system of loose coupling makes with expansible software configuration
It, which is developed, becomes easy with use, meanwhile, the Distributed Communication Technology of ROS is also that telecommunication provides convenience reliable solution
Scheme.
(3) present invention can be directed to different scenes, replace different postures and capture sensor or mechanical arm, developer is only
Corresponding parameter and interface need to be changed in systems, possess preferable expansibility and portability.
Detailed description of the invention
Fig. 1 is present system frame diagram.
Fig. 2 is present system control flow chart.
Specific embodiment
To be more clear the object, technical solutions and advantages of the present invention, with reference to the accompanying drawing to technical side of the invention
Case is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit
The present invention.
Referring to Figures 1 and 2, a kind of mechanical arm remote control system frame based on ROS, including mechanical arm platform and remote operating are put down
Platform, and the two is connected by Ethernet, the remote-controlled operation platform includes that minicomputer, display equipment and posture capture sensing
Device, prime number mechanical arm platform include industrial personal computer, industry camera and mechanical arm, and ROS is a kind of open source robot operating system, institute
It states industrial personal computer and minicomputer carries and run ROS, the message transmission between each node or host is managed by ROS；
The posture captures the device that sensor is directly or indirectly measurement human upper limb posture, acquires human upper limb number
According to rear, the minicomputer in remote-controlled operation platform is reached in real time by data link；
After the minicomputer receives the data that posture captures sensor, the right limb weight of human body is obtained by coordinate transform
Model after building, thus obtains posture information of the manpower relative to shoulder joint, this posture information with the form of message (topic) by
The ROS node of the minicomputer is issued according to certain frequency；
The industrial personal computer is stored with the kinetic parameter of mechanical arm, subscribes to minicomputer publication by ROS node
Posture information, meanwhile, inverse kinematics resolving is carried out to object pose information according to the kinetic parameter of mechanical arm, obtains machinery
Arm reaches each joint angles when object pose, finally, industrial personal computer sends corresponding control according to joint angle information, to mechanical arm
Instruction；
The mechanical arm is the executing agency of system, and completion is corresponding dynamic after receiving the control instruction that industrial personal computer issues
Make, meanwhile, also the status information feedback of itself can be returned industrial personal computer；
The industry camera is transmitted to industrial personal computer for the image information around collection machinery arm.Industrial personal computer is to disappear
The form of breath is transmitted back to the minicomputer of remote-controlled operation platform；
The display equipment is for showing realtime graphic, mechanical arm state and people's limbs model that minicomputer receives
Information facilitates operator to carry out remote operating and can judge current system mode.
The following are control flows when present system being used to carry out remote operating:
(6) posture in remote-controlled operation platform captures sensor measurement and obtains human body attitude, is sent to minicomputer；
(7) after minicomputer receives the data that posture captures sensor, the right limb weight of human body is obtained by coordinate transform
Thus model after building obtains posture information of the manpower relative to shoulder joint.The posture information is in the form of ROS message by message
Publisher node publication；
(8) industrial personal computer in mechanical arm platform is connected by Ethernet with the minicomputer in remote-controlled operation platform, the two
Carried out telecommunication based on ROS Distributed Communication Technology, implementation method are as follows: initially set up between industrial personal computer and minicomputer with
Too net physical connection, then both sides are arranged IP address and bind the host name of itself and the IP address, finally in both sides' ROS ring
Minicomputer is set in border the operation host of ROS management node (master)；
(9) industrial personal computer in mechanical arm platform subscribes to the manpower posture information of minicomputer publication by ROS system；
(10) industrial personal computer carries out inverse kinematics resolving to object pose information according to the kinetic parameter of mechanical arm, obtains machine
Tool arm reaches each joint angles when object pose；
(11) industrial personal computer sends corresponding control instruction to mechanical arm according to joint angle information.
Meanwhile the following are the transmission flows of image data:
(5) the work image of industry camera shooting mechanical arm working site, is transmitted to mechanical arm by USB3.0 agreement
Industrial personal computer in platform；
(6) after industrial personal computer obtains image, image is compressed frame by frame using Joint Photographic Experts Group, and by compressed image with
The form of message is issued by ROS node, guarantees the real-time of image data；
(7) minicomputer in remote-controlled operation platform subscribes to the image data of industrial personal computer publication by ROS node, and should
Image is by showing that equipment plays in real time；
(8) operator can manipulate mechanical arm according to the realtime graphic of display.
Finally, the control flow of present system is as shown in Figure 2: this system is concurrent by camera system collection site image
Give operator.Operator according to the feedback of Given task and field conditions determine the movement next to be carried out, and by
Upper limb carries out remote operating.System on human body upper limb posture is acquired with after reconstruction, calculates position of the manpower relative to shoulder joint
Appearance information, and inverse kinematics resolving is carried out for mechanical arm parameter.After the completion of resolving, system will resolve obtained joint of mechanical arm
Information is sent to mechanical arm controller, and mechanical arm is made to make corresponding movement in environment at the scene.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
But the present invention is not limited to the above embodiments, those skilled in the art's announcement according to the present invention, changes for what the present invention made
Into and modification all should be within protection scope of the present invention.
Claims (6)
1. a kind of mechanical arm remote control system based on ROS, it is characterised in that: the mechanical arm remote control system includes mechanical arm
Platform and remote-controlled operation platform, and the two by Ethernet connect, the remote-controlled operation platform include minicomputer, display equipment and
Posture captures sensor, and the mechanical arm platform includes industrial personal computer, industry camera and mechanical arm, the industrial personal computer and small-sized meter
Calculation machine carries and runs ROS, manages the message transmission between each node or host by ROS；
The posture captures the device that sensor is directly or indirectly measurement human upper limb posture, after acquiring human upper limb data,
Reach the minicomputer in remote-controlled operation platform in real time by data link；The minicomputer receives posture and captures sensing
After the data of device, the model after the right limb of human body is rebuild is obtained by coordinate transform, thus obtains position of the manpower relative to shoulder joint
Appearance information, this posture information are issued by the ROS node of the minicomputer according to certain frequency in the form of message topic；
The industrial personal computer is stored with the kinetic parameter of mechanical arm, and the pose of minicomputer publication is subscribed to by ROS node
Information, meanwhile, inverse kinematics resolving is carried out to object pose information according to the kinetic parameter of mechanical arm, mechanical arm is obtained and reaches
Each joint angles when to object pose, finally, industrial personal computer sends corresponding control to mechanical arm and refer to according to joint angle information
It enables；
The mechanical arm is the executing agency of system, completes corresponding movement after receiving the control instruction that industrial personal computer issues, together
When, also the status information feedback of itself can be returned industrial personal computer；
The industry camera is transmitted to industrial personal computer for the image information around collection machinery arm, and industrial personal computer is with message
Form is transmitted back to the minicomputer of remote-controlled operation platform；
The display equipment is used to show realtime graphic, mechanical arm state and the people's limbs model letter that minicomputer receives
Breath facilitates operator to carry out remote operating and can judge current system mode.
2. a kind of mechanical arm remote control system based on ROS as described in claim 1, it is characterised in that: control process includes
Following below scheme:
(1) posture in remote-controlled operation platform captures sensor measurement and obtains human body attitude, is sent to minicomputer；
(2) after minicomputer receives the data that posture captures sensor, after obtaining the right limb reconstruction of human body by coordinate transform
Model, thus obtain posture information of the manpower relative to shoulder joint, the posture information is in the form of ROS message by news release
Node publication；
(3) industrial personal computer in mechanical arm platform is connected by Ethernet with the minicomputer in remote-controlled operation platform, and the two is based on
ROS Distributed Communication Technology carries out telecommunication, and the industrial personal computer in mechanical arm platform subscribes to minicomputer hair by ROS system
The manpower posture information of cloth；
(4) industrial personal computer carries out inverse kinematics resolving to object pose information according to the kinetic parameter of mechanical arm, obtains mechanical arm
Reach each joint angles when object pose；
(5) industrial personal computer sends corresponding control instruction to mechanical arm according to joint angle information.
3. a kind of mechanical arm remote control system based on ROS as claimed in claim 1 or 2, it is characterised in that: image transmitting mistake
Journey includes following below scheme:
(1) the work image of industry camera shooting mechanical arm working site, and the industrial personal computer being transmitted in mechanical arm platform；
(2) after industrial personal computer obtains image, image is compressed frame by frame, and compressed image is passed through in form of a message
The publication of ROS node；
(3) minicomputer in remote-controlled operation platform subscribes to the image data of industrial personal computer publication by ROS node, and by the image
By showing that equipment plays in real time；
(4) operator can manipulate mechanical arm according to the realtime graphic of display.
4. a kind of mechanical arm remote control system based on ROS as claimed in claim 1 or 2, it is characterised in that: the posture is caught
Catching sensor includes inertial sensor, depth camera and optics motion capture system.
5. a kind of mechanical arm remote control system based on ROS as claimed in claim 1 or 2, it is characterised in that: the coordinate becomes
The method changed are as follows: the right limb of human body is abstracted as to the combination of shoulder joint, elbow joint, wrist joint and three sections of connecting rods, coordinate transform, that is, root
According to the posture information for each structure of human upper limb that measurement obtains, the transformation relation between different joint coordinate systems is constructed, translation becomes
Changing is indicated using coordinate (x, y, z), and rotation transformation is indicated according to unit quaternion formula q=w+ai+bj+ck, wherein w, a, b, c
Meet w2+a2+b2+c2=1.
6. a kind of mechanical arm remote control system based on ROS as claimed in claim 5, it is characterised in that: the manpower is opposite
In the posture information calculation method of shoulder joint are as follows: by human body right upper extremity Model Abstraction be joint tree, wherein shoulder joint, elbow joint and
Wrist joint respectively safeguards the joint coordinate system of its own, using shoulder joint as the root node of joint tree, by coordinate transform, traverses people
All joints of body right upper extremity to get arrive posture information of the manpower relative to root node.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055281A (en) * | 2019-12-19 | 2020-04-24 | 杭州电子科技大学 | ROS-based autonomous mobile grabbing system and method |
| CN111531545A (en) * | 2020-05-18 | 2020-08-14 | 珠海格力智能装备有限公司 | Robot control method, robot control system, and computer storage medium |
| CN111633653A (en) * | 2020-06-04 | 2020-09-08 | 上海机器人产业技术研究院有限公司 | Mechanical arm control system and method based on visual positioning |
| CN113499094A (en) * | 2021-07-08 | 2021-10-15 | 中山大学 | Heart color ultrasound examination device and method guided by vision and force feedback |
| CN114536327A (en) * | 2022-01-24 | 2022-05-27 | 四川广目科技有限公司 | Intelligent industrial mechanical arm driving system based on ROS system |
| CN116863640A (en) * | 2023-07-03 | 2023-10-10 | 河南大学 | Alarm system and method based on multi-target behavior recognition and remote monitoring |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111055281A (en) * | 2019-12-19 | 2020-04-24 | 杭州电子科技大学 | ROS-based autonomous mobile grabbing system and method |
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| CN116863640A (en) * | 2023-07-03 | 2023-10-10 | 河南大学 | Alarm system and method based on multi-target behavior recognition and remote monitoring |
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