Aiming at shortcomings of traditional industrial serial robot control system is mainly used for a particular object

big workload of system development

poor portability

low code reuse rate

propose to design and develop a new robot motion control system with high openness

portability and scalability by using the popular open source robot operating system（ ROS） as a platform

open source IgH EtherCAT master station to set up EtherCAT communication between control system and actuator

using ROS platform to establish URDF model for robot

combined with movement plan library OMPL provided by moveit! for upper motion planning. Using relative algorithms of RRT for experimental verification and the result shows that this control system can effectively complete motion control

and this control system can be applied to other kinds of robot.