Development of a compact motor controller supporting EtherCAT for a dual-arm telepresence robot

Author

Dae-Keun Yoon ; Shin-Young Kim ; JaiHi Cho ; Kwang-Kyu Lee ; Bum-Jae You

Author_Institution

Center of Human-centered Interaction for Coexistence, Seoul, South Korea

fYear

2014

Firstpage

253

Lastpage

256

Abstract

This paper proposes a compact embedded motor controller that can be mounted in a robot arm. Three different control modes are implemented in the controller: torque, velocity, and position. It supports EtherCAT network for real-time control whose control frequency is faster than 1kHz for 18 network nodes under Linux Xenomai operating system. The compact controllers are mounted inside an 18-DOFs dual-arm telepresence robot for smart shape design. Finally, the robot is connected with a master haptic device Omega-6 and showed successful tele-operation performance.

Keywords

control engineering computing; dexterous manipulators; embedded systems; haptic interfaces; local area networks; operating systems (computers); position control; telerobotics; torque control; velocity control; EtherCAT; Linux Xenomai operating system; Omega-6 master haptic device; compact embedded motor controller; dual-arm telepresence robot; position control; robot arm; smart shape design; teleoperation performance; torque control; velocity control; Current measurement; Force; Force measurement; Joints; Robot kinematics; Robot sensing systems; Compact embedded motor controller; EtherCAT; Tele-presence robot; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on

Type

conf

DOI

10.1109/URAI.2014.7057426

Filename

7057426