基于EtherCAT总线的ROS运动控制器设计与实现Design and Implementation of ROS Motion Controller Based on Ether CAT Bus
李明洋,唐国宝,王立坤,马晓星,高永卓
摘要(Abstract)：
提出一种基于EtherCAT总线的ROS系统运动控制器设计,通过示教方式和人机交互方式实现对机器人的运动控制.最终完成控制器测试实验,分别对示教点动、示教再现及人机交互的方式进行测试,结果表明本设计可以有效的实现SCARA机器人的运动控制.
关键词(KeyWords)： ROS;机器人;EtherCAT总线;轨迹规划
基金项目(Foundation): 广东省重大科技专项项目(2015B010918001)
作者(Author): 李明洋,唐国宝,王立坤,马晓星,高永卓
DOI: 10.16393/j.cnki.37-1436/z.2018.02.007
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