Control system design of 6-DOFs serial manipulator based on real-time ethernet

In recent years, more and more field-bus apply to the open control system of serial robots while there is a great demand for communication bandwidth, response speed and real-time. For the current system´s shortage in real-time and stability, this paper presents the control system of 6-DOFs serial manipulator based on EtherCAT network which reduces the complexity and make it easier to expand various kinds of modules. Results confirm that very good performance of realtime and stability is effectively achieved.