基于EtherCAT的连续体机器人主从站设计

Design of Master and Slave Station for Continuum Robot Based on EtherCAT

针对连续体机器人控制实时性低、稳定性差的问题,提出一种基于EtherCAT的连续体机器人主从站控制系统。主站使用开源协议栈SOEM,运行在移植了实时内核Xenomai的Linux操作系统上,并且设计了AX58100(从站控制器)+STM32F407(从站微处理器)的从站控制板,完成了从站控制板的硬件设计和软件设计。搭建控制系统测试平台,进行主从站的任务调度测试和实时性测试。结果显示:主站的最大调度延时为27.367μs,系统的发送周期为1055μs,通信抖动为上下浮动10μs,表明主、从站具有良好的实时性和稳定性。

A continuous robot master and slave station control system based on EtherCAT was proposed to solve the problems of low real-time performance and poor stability in the control of continuous robot.In the control system,a protocol stack SOEM was used in the master station,running on Linux operating system with real-time kernel Xenomai;and the slave controller was designed with AX58100+as slave controller and STM32F407 as slave microprocessor,the hardware and software design of the slave control board was completed.A control system test platform was built,task scheduling test and real-time test were made.The test results show that the maximum scheduling delay of the master station is 27.367μs,the transmission cycle of the system is 1055μs,and the communication jitters are up and down 10μs.It shows that the master station and slave station have good real-time performance and stability.