Aplicação do ROS no controle de movimento de robôs equipados com motores Dynamixel em Linux de Tempo Real

Abstract

EDROM is a research group that participates in several robotics competitions around the world, having already won several awards. Despite its success, the team has been facing difficulties in performing the motion control of humanoid robots. One reason for this is the fact the computational tools used lack resources to implement alternative control strategies. To overcome these limitations found, this paper proposes a generic solution based on ROS, especially its stack called ros_control, to control the motion not only of the EDROM’s robots, but any robot equipped with Dynamixel servos. The new system stands out for being modular, flexible and offering tools that can be easily integrated with third-party tools and safely used in real-time operating systems. It is successfully tested with an 8DOF humanoid robot being controlled by several generic controllers and integrated with other ROS packages, especially rviz and tf, used to estimate the state of the robot and show it in a 3D environment. The new system is also tested in a real-time Linux, presenting significantly better performance in position control when compared with the old solution running in a general-purpose Linux.