Control System Design of 6-DOFs Serial Manipulator Based on Real-time Ethernet

被引：0
|
作者：
Gu, Kai [1 ]
Cao, Qixin [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, Engn Training Ctr, Res Inst Robot, Shanghai 200030, Peoples R China
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2014年
关键词：
serial manipulator; real-time Ethernet; EtherCAT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 real-time and stability is effectively achieved.
引用
收藏
页码：118 / 120
页数：3
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