【摘要】 为方便机械臂的使用和后续开发，提出一种基于ROS和EtherCAT的机械臂控制系统。在上位机ROS中构建避障检测、路径规划和通信节点等模块，将机械臂的关节信息用自定义的通信协议串口发送给STM32;在STM32中移植开源的EtherCAT协议SOEM,将机械臂的信息通过工业以太网发送给伺服控制器，完成机械臂的控制，并通过实验验证了该控制系统的可行性。更多还原

【Abstract】 To facilitate the use and subsequent development of the manipulator, a manipulator control system based on ROS and EtherCAT is proposed. In the upper computer ROS, modules such as obstacle avoidance detection, path planning and communication nodes are constructed, and the joint information of the manipulator is sent to STM32 via a user-defined communication protocol serial port. The open source EtherCAT protocol SOEM is transplanted into STM32, sending the information of the manipulator to the servo controller through industrial Ethernet to complete the control of the manipulator. And experiment is conducted to verify the feasibility of the proposed manipulator control system.更多还原