Title :
Control of 6DOF articulated robot with the direct-teaching function using EtherCAT
Author :
Taeyong Choi ; Hyun-Min Do ; Jin-ho Kyung ; Dongil Park ; Chanhun Park
Author_Institution :
Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea
Abstract :
All of industrial robots need the fixed-time control property commonly. The EtherCAT is a highly flexible network protocol that is developing at a rapid rate. It is extention of conventional ethernet with a high speed communication and simple wiring characteristic. With the ethercat, the implementation of the industrial robot is more easier. Here, the implementation of the industrial robot with the function of the direct teaching is described.
Keywords :
industrial robots; local area networks; protocols; teaching; 6DOF articulated robot control; EtherCAT; Ethernet; direct teaching function; fixed-time control property; flexible network protocol; high speed communication; industrial robots; wiring characteristic; Actuators; Education; Force; Real-time systems; Robot sensing systems; Service robots;
Conference_Titel :
RO-MAN, 2013 IEEE
Conference_Location :
Gyeongju
DOI :
10.1109/ROMAN.2013.6628485
