基于ROS2的MoveIt人形机器人机械臂模糊变阻尼导纳控制系统设计OA

To address the logistics-handling requirements in unstructured environments,the research group designed a fuzzy variable-damping admittance control system for a humanoid-robot manipulator based on Robot Operating System(ROS).Firstly,the structure of manipulator was designed,and the manipulator was integrated with the humanoid platform,forming a unified hardware and software control system of the humanoid robot.Secondly,aiming at the kinematic requirements of the two arms of the box moving operation,the underlying control system of MoveIt based on ROS2 was proposed.Thirdly,in order to control the contact force between the manipulator and material,a variable damping admittance control system based on fuzzy rules was proposed.The damping coefficient in the admittance control was dynamically adjusted by fuzzy rules.Finally,through the joint simulation platform of MATLAB and ROS2,the simulation experiment was carried out for the contact force control in the handling operation of humanoid robot.The research results show that bottom motion control effect of the manipulator based on ROS2 MoveIt is good,the end contact force converges fast and the error range is small,which can meet the logistics handling requirements of atypical complex scenarios.