ROS AND OROCOS-BASED ROBOT CONTROL METHOD AND SYSTEM

摘要

Provided are a ROS and OROCOS-based robot control method and system. The method comprises: receiving, according to a pre-configured communication protocol interface, a control command inputted from a control end; choosing, according to the control command, to call a control command trigger function of a robot motion plan; and using the control command trigger function to call, by means of a first interface, a corresponding response function of the robot motion plan in an algorithm processing program to calculate control command data, and transmitting same to a robot, wherein each control command trigger function corresponds to a response function of a robot motion plan in the algorithm processing program, and the first interface is a real-time input/output interface of OROCOS created on the basis a ROS and is used to establish a communication connection with the algorithm processing program. The system constitutes a piece of complete robot controller software, thereby reducing development costs of a robot control system, and enhancing control performance.