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

页码：49 / 57

页数：9

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