{"id":21518,"date":"2026-08-26T13:54:50","date_gmt":"2026-08-26T05:54:50","guid":{"rendered":"https:\/\/icop-shop.com\/?p=21518"},"modified":"2026-08-26T13:55:52","modified_gmt":"2026-08-26T05:55:52","slug":"icop-validates-ros-2-based-control-of-the-oriental-motor-scara-robot-using-the-qec-ethercat-mdevice-platform","status":"publish","type":"post","link":"https:\/\/icop-shop.com\/zh\/product-highlights\/icop-validates-ros-2-based-control-of-the-oriental-motor-scara-robot-using-the-qec-ethercat-mdevice-platform\/","title":{"rendered":"ICOP \u900f\u904e QEC EtherCAT MDevice \u5e73\u53f0\uff0c\u9a57\u8b49\u57fa\u65bc ROS 2 \u7684 Oriental Motor SCARA \u6a5f\u5668\u4eba\u63a7\u5236\u7cfb\u7d71"},"content":{"rendered":"
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\u96a8\u8457\u667a\u6167\u6a5f\u5668\u4eba\u61c9\u7528\u8fc5\u901f\u767c\u5c55\uff0cROS 2 \u8207 AI \u958b\u767c\u4eba\u54e1\u5f80\u5f80\u5c0d EtherCAT \u548c\u4f3a\u670d\u63a7\u5236\u4e0d\u751a\u719f\u6089\uff1b\u800c\u81ea\u52d5\u5316\u5de5\u7a0b\u5e2b\u5247\u672a\u5fc5\u719f\u6089 ROS 2\u3001MoveIt \u6216 AI \u61c9\u7528\u3002\u7cfb\u7d71\u6574\u5408\u5546\u8207\u539f\u59cb\u8a2d\u5099\u88fd\u9020\u5546\uff08OEM\uff09\u9577\u671f\u4ee5\u4f86\u4e00\u76f4\u9762\u81e8\u300c\u667a\u6167\u8edf\u9ad4\u300d\u8207\u300c\u5de5\u696d\u6a5f\u5668\u300d\u4e4b\u9593\u7684\u6574\u5408\u843d\u5dee\u3002<\/p>\n

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ROS 2 \u00d7 EtherCAT \u6a5f\u5668\u4eba\u63a7\u5236\uff1a\u67b6\u69cb\u8207\u5de5\u4f5c\u6d41\u7a0b
\n\u52a0\u901f\u7cfb\u7d71\u6574\u5408\u5546\u8207\u539f\u59cb\u8a2d\u5099\u88fd\u9020\u5546\u7684\u667a\u6167\u6a5f\u68b0\u624b\u81c2\u958b\u767c<\/h2>\n<\/div>\n

ICOP Technology \u8fd1\u671f\u5df2\u5b8c\u6210\u57fa\u65bc\u00a0ROS 2 \u5c0d Oriental Motor SCARA \u6a5f\u5668\u4eba\u63a7\u5236\u7684\u9a57\u8b49\uff0c<\/b>\u00a0\u4f7f\u7528\u00a0QEC EtherCAT MDevice<\/b>\u00a0\u5e73\u53f0\uff1a\u7531 MoveIt 2 \u751f\u6210\u7684\u904b\u52d5\u8a08\u756b\u900f\u904e ros2_control \u548c micro-ROS \u50b3\u9001\u81f3 QEC\uff0c\u5be6\u6642\u8f49\u63db\u70ba EtherCAT CiA402 \u4f4d\u7f6e\u6307\u4ee4\uff0c\u4e26\u7531 Oriental Motor AZ mini EtherCAT \u9a45\u52d5\u7a0b\u5f0f\u8207 SCARA \u6a5f\u5668\u4eba\u4ee5\u540c\u6b65\u7cbe\u6e96\u5ea6\u57f7\u884c\u3002\u6b64\u5916\uff0c\u4ea6\u900f\u904e MoveIt \u4efb\u52d9\u5efa\u69cb\u5668\uff08MTC\uff09\u5be6\u73fe\u4e86\u62fe\u653e\u4efb\u52d9\u7684\u5de5\u4f5c\u6d41\u7a0b\u3002\u6b64\u6b21\u9a57\u8b49\u5c55\u793a\u4e86\u4e00\u5957\u53ef\u7acb\u5373\u90e8\u7f72\u7684\u00a0ROS 2 \u00d7 EtherCAT \u6a5f\u5668\u4eba\u63a7\u5236\u8207\u958b\u767c\u67b6\u69cb\uff0c<\/b>\u70ba\u9032\u884c\u4e8c\u6b21\u958b\u767c\u8207\u5c08\u6848\u6574\u5408\u7684\u7cfb\u7d71\u6574\u5408\u5546\u53ca\u539f\u59cb\u8a2d\u5099\u88fd\u9020\u5546\uff08OEM\uff09\u63d0\u4f9b\u4e86\u6280\u8853\u53c3\u8003\u3002<\/p>\n

\"QEC_SCARA\"
QEC \u00d7 Oriental Motor SCARA ROS 2 \u89e3\u6c7a\u65b9\u6848\u67b6\u69cb\uff1aROS 2 \/ MoveIt 2 \u2192 ros2_control
\n\u2192 QEC\uff08micro-ROS + EtherCAT MDevice\uff09\u2192 CiA402 \u2192 AZ mini \u9a45\u52d5\u7a0b\u5f0f\u8207 SCARA \u6a5f\u5668\u4eba<\/figcaption><\/figure>\n
\n<\/div>\n<\/div>\n
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\u9069\u7528\u65bc SCARA \u6a5f\u5668\u4eba\u7684 ROS 2 \u00d7 EtherCAT \u63a7\u5236\u67b6\u69cb<\/h2>\n

\u5728\u7d93\u904e\u9a57\u8b49\u7684\u7cfb\u7d71\u4e2d\uff0cQEC \u626e\u6f14 ROS 2 \u8207 EtherCAT \u4e4b\u9593\u7684\u5373\u6642\u6a4b\u6a11\uff1a\u4e3b\u6a5f\u96fb\u8166\u8ca0\u8cac\u9ad8\u968e\u898f\u5283\u3001\u8996\u89ba\u8655\u7406\u53ca AI \u6c7a\u7b56\uff0c\u800c QEC \u5247\u8ca0\u8cac\u5373\u6642 EtherCAT \u63a7\u5236\u8207\u5be6\u9ad4\u6a5f\u53f0\u7684\u57f7\u884c\u3002\u7cfb\u7d71\u7684\u4e3b\u8981\u7d44\u4ef6\u5305\u62ec\uff1a<\/p>\n<\/div>\n<\/div>\n

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\u9ad8\u968e\u898f\u5283\uff1aROS 2 \/ MoveIt 2<\/h2>\n

\u9006\u904b\u52d5\u5b78\uff08IK\uff09\u3001\u9ede\u5c0d\u9ede\u8def\u5f91\u898f\u5283\u3001\u78b0\u649e\u6aa2\u6e2c\u53ca\u8ecc\u8de1\u6a21\u64ec\uff0c\u4e26\u57fa\u65bc MoveIt Task Constructor \u5efa\u69cb\u7684\u53d6\u653e\u4efb\u52d9\u5de5\u4f5c\u6d41\u7a0b\u3002\u53ef\u9032\u4e00\u6b65\u6574\u5408\u8996\u89ba\u8fa8\u8b58\u8207\u4eba\u5de5\u667a\u6167\u61c9\u7528\u3002\u611f\u77e5\u3001\u6c7a\u7b56\u8207\u898f\u5283\u4e3b\u8981\u5728\u4e3b\u96fb\u8166\u4e0a\u57f7\u884c\u2014\u2014\u5373 ROS 2 \u5c64\u3002<\/p>\n<\/div>\n

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\u63a7\u5236\u6838\u5fc3\uff1aQEC EtherCAT MDevice\uff08micro-ROS + EtherCAT MDevice \u63a7\u5236\u5668\uff09<\/h2>\n

\u900f\u904e 86Duino \u5fae\u578b ROS \u74b0\u5883\uff0cQEC \u63a5\u6536\u4f86\u81ea ros2_control \u7684\u8ecc\u8de1\u6307\u4ee4\uff0c\u4e26\u5c07\u5176\u5373\u6642\u8f49\u63db\u70ba CiA402\uff08\u4f4d\u7f6e\u6a21\u5f0f\uff09\u6307\u4ee4\uff0c\u900f\u904e\u56fa\u5b9a\u9031\u671f\u7684 EtherCAT \u901a\u8a0a\u57f7\u884c\u591a\u8ef8\u540c\u6b65\u904b\u52d5\u3002<\/p>\n<\/div>\n

\n

\u9a45\u52d5\u5668\u8207\u6a5f\u69cb\uff1aOriental Motor AZ mini EtherCAT \u9a45\u52d5\u5668 \u00d7 SCARA<\/h2>\n

\u73fe\u6709\u7684 Oriental Motor \u9a45\u52d5\u5668\u8207 SCARA \u6a5f\u69cb\u5747\u4e88\u4ee5\u4fdd\u7559\u2014\u7121\u9700\u66f4\u63db\u786c\u9ad4\u3002\u6539\u8b8a\u4e4b\u8655\u5728\u65bc\u63a7\u5236\u93c8\uff1a\u4e3b\u6a5f\u7372\u5f97\u4e86\u8ecc\u8de1\u63a7\u5236\u8207\u53c3\u6578\u5b58\u53d6\u529f\u80fd\u3002<\/p>\n<\/div>\n

\n
\"RViz
RViz \u6578\u4f4d\u6a21\u578b\u8207\u6b63\u5411\u904b\u52d5\u5b78\u64cd\u4f5c<\/figcaption><\/figure>\n
\"MoveIt
MoveIt 2 \u904b\u52d5\u898f\u5283\u8207\u78b0\u649e\u6aa2\u6e2c<\/figcaption><\/figure>\n<\/div>\n
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\u958b\u767c\u5de5\u4f5c\u6d41\u7a0b\uff1a\u5f9e FK\uff0fIK \u9a57\u8b49\u5230\u52d5\u4f5c\u57f7\u884c\u8207\u8def\u5f91\u91cd\u8907\u5229\u7528<\/h2>\n

\u5728\u8edf\u9ad4\u65b9\u9762\uff0cICOP \u5c07 ROS 2 \/ MoveIt 2 \u8207\u00a086Duino IDE<\/a>\u00a0\uff08\u958b\u6e90\u3001C\/C++ \u67b6\u69cb\uff09\u4ee5\u5efa\u7acb\u53ef\u91cd\u8907\u4f7f\u7528\u7684 SCARA \u63a7\u5236\u958b\u767c\u5de5\u4f5c\u6d41\u7a0b\uff1a<\/p>\n

    \n
  1. \u6b63\u5411\uff0f\u9006\u5411\u904b\u52d5\u5b78 (FK \/ IK) \u9a57\u8b49<\/b>\u2014 \u900f\u904e URDF \u6578\u4f4d\u6a21\u578b\u3001TF tree \u53ca RViz\uff0c\u5728\u7cfb\u7d71\u5c64\u7d1a\u5c0d\u6a5f\u5668\u4eba\u904b\u52d5\u5b78\u6a21\u578b\u9032\u884c\u9a57\u8b49\uff0c\u4ee5\u78ba\u4fdd\u5ea7\u6a19\u8f49\u63db\u8207\u95dc\u7bc0\u89d2\u5ea6\u8a08\u7b97\u7684\u6e96\u78ba\u6027\u3002<\/li>\n
  2. MoveIt 2 \u904b\u52d5\u898f\u5283<\/b>\u2014 IK\u3001\u9ede\u5c0d\u9ede\u8def\u5f91\u898f\u5283\u3001\u78b0\u649e\u6aa2\u6e2c\u53ca\u8ecc\u8de1\u6a21\u64ec\uff1b\u5229\u7528 MTC \u5efa\u69cb\u7684\u591a\u6b65\u9a5f\u62fe\u53d6\u8207\u653e\u7f6e\u4efb\u52d9\u3002<\/li>\n
  3. micro-ROS \u6a4b\u63a5\u8207 EtherCAT \u904b\u52d5\u63a7\u5236\u6574\u5408<\/b>\u2014 \u898f\u5283\u7d50\u679c\u6703\u900f\u904e ros2_control \u548c micro-ROS \u50b3\u9001\u81f3 QEC\uff0c\u4e26\u900f\u904e EtherCAT \u5c07\u95dc\u7bc0\u6307\u4ee4\u540c\u6b65\u5206\u767c\u81f3\u6240\u6709\u8ef8\uff0c\u4ee5\u78ba\u4fdd\u591a\u8ef8\u5354\u8abf\u904b\u52d5\u7684\u4e00\u81f4\u6027\u3002<\/li>\n
  4. \u52d5\u4f5c\u9304\u88fd\u3001\u8abf\u6574\u8207\u91cd\u64ad\uff08\u9304\u88fd\uff0f\u8abf\u6574\uff0f\u5132\u5b58\uff0f\u64ad\u653e\uff09<\/b>\u2014 \u9664\u4e86\u80fd\u5373\u6642\u4e32\u6d41 ROS 2 \u7684\u4f4d\u7f6e\u6307\u4ee4\u5916\uff0cROS 2 \u8a08\u7b97\u51fa\u7684\u8def\u5f91\u8207\u904b\u52d5\u5b78\u8cc7\u6599\u4e5f\u80fd\u00a0\u8a18\u9304\u4e26\u5132\u5b58\u65bc QEC \u4e2d<\/b>\u00a0\u4ee5\u78ba\u4fdd\u64ad\u653e\u7a69\u5b9a\u4e14\u53ef\u91cd\u8907\uff0c\u4f7f\u7528\u8005\u4ea6\u53ef\u81ea\u884c\u9032\u4e00\u6b65\u512a\u5316\u8def\u5f91\u3002<\/li>\n<\/ol>\n<\/div>\n<\/div>\n
    \n
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    QEC \u4e0d\u50c5\u50c5\u662f\u4e00\u500b\u57f7\u884c\u7d42\u9ede\u3002<\/strong>\u00a0\u642d\u914d 86Duino \u8edf\u9ad4\u4f7f\u7528\u6642\uff0cQEC \u672c\u8eab\u4fbf\u80fd\u00a0\u7de8\u8f2f\u904b\u52d5\u8def\u5f91\u8207\u884c\u70ba\u5e8f\u5217<\/strong>: \u5728 ROS 2 \u4e2d\u898f\u5283\u7684\u8ecc\u8de1\u53ef\u4e0b\u8f09\u81f3 QEC\uff0c\u4e26\u4ee5\u5b8c\u5168\u7a69\u5b9a\u7684\u65b9\u5f0f\u7368\u7acb\u904b\u884c \u2014 \u7121\u9700\u5e38\u99d0\u4e3b\u6a5f\u96fb\u8166 \u2014 \u540c\u6642\u64cd\u4f5c\u54e1\u53ef\u76f4\u63a5\u5728 QEC \u4e0a\u8abf\u6574\u3001\u5132\u5b58\u53ca\u91cd\u64ad\u52d5\u4f5c\u5e8f\u5217\u3002\u6b64\u8a2d\u8a08\u517c\u5177\u958b\u767c\u9748\u6d3b\u6027\u8207\u91cf\u7522\u90e8\u7f72\u6240\u9700\u7684\u7a69\u5b9a\u6027\u3002<\/p>\n<\/div>\n<\/div>\n

    \n
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    \u7cfb\u7d71\u6574\u5408\u5546\u8207\u539f\u59cb\u8a2d\u5099\u88fd\u9020\u5546\uff08OEM\uff09\u7684\u6280\u8853\u50f9\u503c<\/h2>\n

    \u76f8\u8f03\u65bc\u5178\u578b\u7684\u958b\u6e90 IPC \u89e3\u6c7a\u65b9\u6848\uff0c86Duino \/ QEC \u5e73\u53f0\u9810\u5148\u6574\u5408\u4e86 EtherCAT \u4e3b\u7ad9\u3001CiA402 \u904b\u52d5\u63a7\u5236\u3001\u5de5\u696d I\/O\uff0c\u4ee5\u53ca Modbus RTU\/TCP\u3001\u4e32\u5217\u901a\u8a0a\u548c CAN \u7b49\u5e38\u898b\u5de5\u696d\u4ecb\u9762\uff0c\u540c\u6642\u5177\u5099 Arduino \u98a8\u683c\u7684 C\/C++ \u958b\u767c\u74b0\u5883\u3001\u5b8c\u6574\u7684\u51fd\u5f0f\u5eab\uff0c\u4ee5\u53ca HMI \u8a2d\u8a08\u80fd\u529b\u3002\u958b\u767c\u4eba\u54e1\u7121\u9700\u53e6\u884c\u6574\u5408 EtherCAT \u901a\u8a0a\u5806\u758a\u3001\u4f3a\u670d\u9a45\u52d5\u5668\u3001\u611f\u6e2c\u5668\u3001PLC\u3001\u5e8f\u5217\u88dd\u7f6e\u6216\u5176\u4ed6\u73fe\u5834\u8a2d\u5099 \u2014 \u904b\u52d5\u63a7\u5236\u3001\u88dd\u7f6e\u901a\u8a0a\u53ca\u61c9\u7528\u908f\u8f2f\u7686\u53ef\u5728\u55ae\u4e00 86Duino \u958b\u767c\u67b6\u69cb\u5167\u5b8c\u6210\uff0c\u5927\u5e45\u7e2e\u77ed\u5f9e\u6982\u5ff5\u9a57\u8b49 (PoC) \u5230\u8a2d\u5099\u90e8\u7f72\u7684\u9031\u671f\u3002<\/p>\n