Development of EtherCAT real-time control system for robot based on Simulink Real-Time

被引：3
|
作者：
Wang, Song [1 ]
Yang, Xudong [2 ]
van der Geer, J. [2 ]
机构：
[1] Guiyang Zhenxing Al Mg Sci & Technol Ind Dev Co L, Guiyang, Guizhou, Peoples R China
[2] Guizhou Univ, Sch Mech Engn, Guiyang 550025, Guizhou, Peoples R China
来源：
JOURNAL OF COMPUTATIONAL METHODS IN SCIENCES AND ENGINEERING | 2021年 / 21卷 / 01期
关键词：
EtherCAT; Simulink Real-Time; real-time control; robot control; D2 delta robot;
D O I：
10.3233/JCM-204325
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In industrial applications, EtherCAT control technology requires the use of TwinCAT control software with dedicated servos for real-time control. In order to solve the limitations of the practical application of EtherCAT, this experiment combines EtherCAT real-time control technology with Simulink Real-Time real-time control technology to design a new EtherCAT real-time control technology based on Simulink Real-Time. In the experiment, D2 delta robot is used as the control object, and the real-time control environment of Simulink Real-Time is set up to build the EtherCAT real-time communication model. The established real-time control model is added to the robot control system to realize the motion control of the robot.
引用
收藏
页码：49 / 57
页数：9
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