基于EtherCAT的机器人控制总线方案研究  

Research of robot control bus scheme based on EtherCAT

作　　者：刘冬[1] 闵华松[1] 杨杰[1] 

机构地区：[1]武汉科技大学冶金自动化及检测技术教育部工程研究中心,湖北武汉430081

出　　处：《计算机工程与设计》2013年第4期1238-1243,共6页Computer Engineering and Design

基　　金：科技部863重点基金项目“机器人模块化功能部件产业化”(2009AA043901)

摘　　要：针对当前机器人网络化控制对通信带宽、响应速度、实时性等方面的更高要求,提出了基于EtherCAT的机器人控制总线解决方案。通过分析机器人控制的需求和EtherCAT的特点,采用线性拓扑结构来构建研究平台。从站采用STM32和COMX模块设计伺服控制器;主站采用Linux系统和RTAI模块构建支撑平台,并移植EtherCAT协议栈SO-EM,结合网络控制模型来实现机器人伺服节点的分布式控制。通过实验验证了方案的可行性,并分析了总线的延时组成。In view of the higher demand of communication bandwidth, response speed, real time and other aspects in current ro- bot network control, a robot control bus solution based on EtherCAT is proposed. In the analysis of the robot control require- ments and the characteristics of EtherCAT, a research platform is built using a linear topological structure. In the slave STM32 and COMX module are used to design servo controller, while in the master Linux system and RTAI module to are used construct supporting platform, and EtherCAT protocol stack SOEM is transplanted, then combined with the network control model, the distributed control of the robot servo nodes is realized. Through the experiment the feasibility of this system is verified, and the composition of bus delay is analyzed.

关 键 词：机器人 控制总线 实时以太网 嵌入式从站 数据周期 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]