摘要
针对基于实时以太网的模块化、开放式工业机器人控制系统开发技术进行了研究,提出了基于SERCOS-Ⅲ实时以太网的工业机器人控制器软硬件体系架构,其中硬件设计以ARM cortex A8嵌入式处理器为机器人控制器的核心CPU,在其上搭建通用通信模块comX100-CA-RE作为SERCOS-Ⅲ的通讯主站;在软件设计方面,完成了comX通信模块在RT-Linux下的驱动程序开发,实现主、从站之间的实时通信,并完成了工业机器人的点动控制.将上述控制系统在多轴运动控制平台上进行了物理实验,其结果表明了所开发控制系统的有效性.
Development technology of moular,open control system of industrial robot based on realtime Ethernet was studied,and hardware and software architectures of industrial robot controller based on SERCOS-Ⅲreal-time Ethernet were proposed.In the hardware design,the ARM cortex A8 embedded processor,the CPU of industrial controller,was equipped with a universal communication module comX100-CA-RE as SERCOS-Ⅲ master.In software design,the driver development of comX communication module in RT-Linux was completed.And real-time communication between master and slaves was realized.Furthermore,jog motion control of industrial robots was developed.Finally,the control system was tested in the multi-axis motion control platform,and the results showed the effectiveness of the developed control system.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第S1期501-504,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家重大科技专项资助项目(2010zx04008-041)
江苏省科技成果转化项目(BA2014044)
