基于EtherCAT的人机协作控制系统

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031370

I. Jung, Sun Lim

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引用次数: 13

摘要

本文提出了一种基于EtherCAT的人机协作控制系统。该系统采用EtherCAT作为高速工业运动网络，实现基于力的实时运动控制，由人机合作主控制器HRCMC和人机EtherCAT从控制器HRESC组成。对于人机协作而言，实时力交互是应用于各种应用(如机器人直接教学等)的必要条件。为了实现实时控制，HRCMC采用RTOS和EtherCAT网络进行设计，HRESC能够采集机器人的所有传感器信息，包括力传感器信息，并将其传递给HRCMC。实验结果表明，该系统对基于力交互的人机协作系统具有实时可控性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An EtherCAT based control system for human-robot cooperation

In this paper, we propose an EtherCAT based control system for human-robot cooperation. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of HRCMC(Human-Robot Cooperation Master Controller) and HRESC(Human-Robot EtherCAT Slave Controller). For human-robot cooperation, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, HRCMC is designed using RTOS and EtherCAT network and HRESC has the capability to collect and transfer to HRCMC all sensor information of robot including force sensors. It is proven by experimental results that the proposed system has real time controllability for force interaction based Human-Robot cooperation system.

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来源期刊

2011 16th International Conference on Methods & Models in Automation & Robotics

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