基于EtherCAT和TwinCAT3的协作机器人控制系统设计  

Design of Collaborative Robot Control System Based on EtherCAT and TwinCAT3

作　　者：袁俊杰 刘海涛 潘国庆[2] 王红伟 YUAN Jun-jie;LIU Hai-tao;PAN Guo-qing;WANG Hong-wei(College of Mechanical and Material Engineering,North China University of Technology,Beijing 100043,China;Research and Development Center,Beijing Aerospace Measurement&Control Technology Co.,Beijing 100041,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100043 [2]北京航天测控技术有限公司研发中心,北京100041

出　　处：《科学技术与工程》2021年第8期3159-3168,共10页Science Technology and Engineering

基　　金：北京市基金-教委联合资助项目(KZ202010009015)。

摘　　要：为了降低机器人控制系统的研发周期和方便操作人员使用操作,通过对TA6-R5型协作机器人的研究,设计了基于EtherCAT和TwinCAT3的协作机器人控制系统。采用(Denavit-Hartenbery)(D-H)法建立运动学模型,求出正运动学解析解,根据各关节转动角度绝对值之和最小的原则求解出最优逆解,利用MATLAB的Robotics Toolbox验证运动学。利用TwinCAT3搭建控制系统,实现编程控制以及HMI(human machine interface),通过EtherCAT总线的高实时性实现数据控制与反馈。最后,利用同步周期位置模式进行笛卡尔空间轨迹规划,结合TwinCAT Measurement的Scope View图形化工具可观测和验证系统执行情况,结果表明基于EtherCAT和TwinCAT3的协作机器人控制系统可降低控制系统研发周期,提高研发效率。In order to shorten the research and development(R&D)cycle of robot control system and make it easier for operation,a cooperative robot control system was designed based on EtherCAT and TwinCAT3 through the study of TA6-R5 cooperative robot.The D-H method was used to establish the kinematics model,and the forward kinematics analytic solution was obtained.Then,the optimal inverse solution was solved according to the principle of minimum sum of curl angles of all joints,and the kinematics was verified with Robotics Toolbox of MATLAB.TwinCAT3 was used to set up a control system to realize programming control and HMI.Data control and feedback were realized through EtherCAT bus with high real-time performance.Finally,the cyclic synchronous position model was taken for Cartesian space trajectory planning,with the Scope View of TwinCAT measurement adopted for the observation and verification of the system’s implementation.The results show that the cooperative robot control system based on EtherCAT and TwinCAT3 can reduce the R&D cycle of the control system and improve the R&D efficiency.

关 键 词：ETHERCAT TwinCAT3 C++ 协作机器人 控制系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]