An EtherCAT based control system for human-robot cooperation

Author

Il-Kyun Jung ; Sun Lim

Author_Institution

Korea Electron. Technol. Inst.(KETI), Bucheon, South Korea

fYear

2011

fDate

22-25 Aug. 2011

Firstpage

341

Lastpage

344

Abstract

In this paper, we propose an EtherCAT based control system for human-robot cooperation. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of HRCMC(Human-Robot Cooperation Master Controller) and HRESC(Human-Robot EtherCAT Slave Controller). For human-robot cooperation, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, HRCMC is designed using RTOS and EtherCAT network and HRESC has the capability to collect and transfer to HRCMC all sensor information of robot including force sensors. It is proven by experimental results that the proposed system has real time controllability for force interaction based Human-Robot cooperation system.

Keywords

controllability; force control; human-robot interaction; industrial control; industrial robots; local area networks; motion control; telerobotics; EtherCAT based control system; EtherCAT network; RTOS; force based motion control; force sensor; high speed industrial motion network; human-robot EtherCAT slave controller; human-robot cooperation master controller; real time controllability; real-time force interaction; Humans; Motion control; Real time systems; Robot sensing systems; Service robots; Time factors; EtherCAT; Force interaction; Human Robot Cooperation; Real time Control; Robot Control System;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2011 16th International Conference on

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4577-0912-8

Type

conf

DOI

10.1109/MMAR.2011.6031370

Filename

6031370