基于EtherCAT的五自由度机械臂控制系统研制

EtherCAT-based Development of the Control System for 5-DOF Manipulator

对自行设计的五自由度机械臂进行了运动学分析。为了实现对机械臂控制的实时性和可扩展性,研制了一种基于以太网控制自动化技术(EtherCAT)总线通信的机器人控制系统,采用ACS公司的SPiiPlus软件作为软主站,以ACS公司的两款基于EtherCAT的数字伺服驱动器UDMmc、UDMlc和Beckhoff公司的EK1100耦合器模块作为从站组成EtherCAT实时系统。对EtherCAT的主从站进行了一系列配置,并在五自由度机械臂平台上验证了轨迹规划的平稳性和系统的稳定性、实时性。

A kinetic analysis on self-designed 5-DOF manipulator was performed. In order to achieve real-time and expandable control of the mechanical arm , a robot control system based on EtherCAT bus communication was developed. It adopted SPiiPlus-a software from ACS Company as a soft master station and Took UDMme ＆ UDMlc-two EtherCAT-based digital servo drives from ACS company and EK1100 coupler module from Beckhoff as the slave station to constitute EtherCAT real-time system. Through a series configuration of EtherCAT master station and slave station, the smoothness of the path planning as well as real-time stability of the system was demonstrated on the 5-DOF mechanical arm platform.