Title :
Control system design of 6-DOFs serial manipulator based on real-time ethernet
Author :
Kai Gu ; Qixin Cao
Author_Institution :
Res. Inst. of Robot., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
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.
Keywords :
control engineering computing; field buses; local area networks; manipulators; 6-DOF serial manipulator; EtherCAT network; control system design; field-bus; real-time Ethernet; serial robot; Manipulators; Propagation delay; Real-time systems; Sensors; Servomotors; Ether-CAT; real-time Ethernet; serial manipulator;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932637
