The catalytic convertor in your exhaust system has a suspended "core" of honeycomb material that reacts with the chemicals in your exhaust that flow through it; they get really really really hot and wear out over time. Occasionally they will actually melt* (this is very bad as it severely restricts flow of exhaust,) or "break free" from their suspension methods. They rattle pretty good at the right RPM as they build a sympathetic vibration with the engine and the rest of the car. One way to check if this is your issue is to bang on your cat with a soft mallet or your fist (do not touch it if your engine has been running recently, cat temperatures can get
way higher than the temp of the rest of the exhaust system components fast.)
Give it a good few raps from under the car in quiet conditions and see if you can re-create the noise.
Next, check any exhaust heat shields (including the ones commonly installed on the catalytic converter although, I can't remember if ours have them or not) and the ones around the turbo. If you still can't find it, try pressing a long handled screwdriver or pry bar against engine and exhaust components and then pushing your ear hard against the handle. This will transfer a lot of sound right to your ear to pinpoint different sounds. You may want someone in the car to run it at different RPM's to re-create the noises.
Please be careful under/around the car with the engine running, watch hair, fingers, jewlery, etc in the engine compartment and if you're under the car use jackstands, wheel chocks and don't take any chances!
Here is a picture of a cat, you can see the heat shield around it and the bung for an o2 sensor. I couldn't trace down a pic of one under one of our cars, sorry.
*catalyst melting is often the case of a rich running condition