Study on the architecture of reconfigurable EOD robot based on ROS

doi:10.16731/j.cnki.1671-3133.2019.01.012

Modern Manufacturing Engineering ›› 2019, Vol. 460 ›› Issue (1): 64-68.doi: 10.16731/j.cnki.1671-3133.2019.01.012

Previous Articles Next Articles

Study on the architecture of reconfigurable EOD robot based on ROS

Ding Chengjun¹, Feng Yubo^1,2, Gao Xue¹, Li Zongkui², Zhu Xuehong¹

1 School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;
2 Taihua Hongye Robot Technology Research Institute,Tianjin 300401,China

Received:2017-07-20 Online:2019-01-20 Published:2019-02-15

Abstract

Abstract: Reconfigurable EOD robot on the spot can be reconstructed by operator according to the different spot task which has diversity when the robot in dangerous explosive environment.The modules of the robot can be assembled quickly is basic hardware requirement of self-reconfigurable EOD robot.And the software of the robot must auto-reconstruct to adapt to the robot hardware changes.Proposes an architecture of the reconfigurable EOD robot which is based on the Robot Operation System(ROS).In complex environment,operator assembles the modules of EOD robot for different tasks and the software system reconstructed its software modules,which enable the robot to handle multiple tasks.The reconfigurable EOB robot is efficient,robust and adaptive with this kind of architecture in actual work.

Key words: Robot Operating System(ROS), reconfigurable, the EOD robot, system architecture

CLC Number:

TP242.3

Ding Chengjun, Feng Yubo, Gao Xue, Li Zongkui, Zhu Xuehong. Study on the architecture of reconfigurable EOD robot based on ROS[J]. Modern Manufacturing Engineering, 2019, 460(1): 64-68.

References 15

[1]	李玉光,胡萍,梁建宏.微型排爆排险机器人的机械结构设计[J].机械设计,2009(6):32-35.
[2]	陈朝大,杜启亮,秦传波,等.基于DSP平台的排爆机械臂控制系统设计[J].机床与液压,2014(3):58-61.
[3]	范路桥,姚锡凡,祁亨年,等.排爆机器人的研究现状及其关键技术[J].机床与液压,2008(6):139-143.
[4]	YIM M,SALEMI B,SHEN Weimin.Modular Self-Reconfigurable Robot Systems[J].Robotics & Automation Magazine,IEEE,2007(14):43-52.
[5]	左轩尘,韩亮亮,庄杰,等.基于ROS的空间机器人人机交互系统设计[J].计算机工程与设计,2015(12):3370-3374.
[6]	王亚,王瑞,关永,等.RGMP-ROS混合机器人操作系统节点间通信的形式化验证[J].小型微型计算机系统,2015(10):2379-2383.
[7]	高雅,李晓娟,关永,等.运用定理证明器ACL2验证机器人操作系统ROS节点间通信[J].小型微型计算机系统,2014(9):2126-2130.
[8]	马丁内斯.ROS机器人程序设计[M].刘品杰,译.北京:机械工业出版社,2014.
[9]	BRANDON Alexander,KAIJEN Hsiao,CHAD Jenkins,et al.Robot Web Tools[J].Robotics & Automation Magazine,IEEE,2012(19):20-23.
[10]	LENTIN Joseph.Learning Robotics Using Python[M].[S.l.]:Published by Packt Publishing Ltd,2015.
[11]	COUSINS Steve.ROS on the PR2[J].IEEE Journal of Robotics and Automation,2010,17(3):23-25.
[12]	COUSINS S,GERKEY B,CONLEY K,et al.Sharing software with ROS[J].IEEE Journal of Robotics and Automation,2010,17(2):12-14.
[13]	FABIO Dalla Libera,HIROSHI Ishiguro.ROS link: Interfacing legacy systems with ROS.2013 IEEE International Conference on Robotics and Automation(ICRA) Karlsruhe[C].Germany:[s.n.],2013:475-481.
[14]	COUSINS Steve.Exponential growth of ROS[J].IEEE Journal of Robotics and Automation,2011,18(1):19-20.
[15]	佘元博.基于ROS的交互型自主导航机器人平台的设计与实现[D].南京:南京大学,2015.

Study on the architecture of reconfigurable EOD robot based on ROS

PDF

Knowledge

Abstract

Cite this article

share this article

References 15

Related Articles 1

Recommended Articles

Metrics

Comments