轻工机械2026，Vol.44Issue(3)：79-86,8.DOI:10.3969/j.issn.1005-2895.2026.03.010
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
Design of Fuzzy Variable-Damping Admittance Control System for Humanoid Manipulators Using ROS2 and MoveIt
摘要
Abstract
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.关键词
人形机器人/机械臂/模糊控制/导纳控制/ROS系统Key words
humanoid robot/manipulator/fuzzy control/admittance control/ROS(Robot Operating System)分类
机械制造引用本文复制引用
郭廷柱,张秋菊,郑坤明..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[J].轻工机械,2026,44(3):79-86,8.基金项目
国家自然科学基金青年科学基金项目(52205015). （52205015）
