Design And Implementation Of Industrial Robot Control System Based On EtherCAT

With the advent of the industrial era of 4.0,countries around the world have increased the research and application support for industrial robot,to occupy a certain advantage in industrial production.In the face of the fine production process and complex working environment,industrial robot control system stability and real-time communication becomes more and more important.In addition,the general and fast development platform of industrial robot software also has a certain effect on its use in production.These are the problems that need to be solved in the research of industrial robot at present.In this paper,according to the current industrial robot control bus gradually develop to the trend of high-speed Ethernet,using PC plus EtherCAT Ethernet protocol to control industrial robot.At the same time,combining the current popular open-source robot operating system ROS and using its powerful simulation and software development environment to build the industrial robot simulation and control system platform.This has a very good practical value and research significance in the background of the development of industrial robot in our country.At the bottom of the built system,an industrial robot drive node based on EtherCAT protocol is realized.At the same time,by constructing the URDF model and seting the ROS controller,the simulation platform of the industrial robot under ROS is built,and the simulation control interface node is written.Through the unified control interface,the upper program can control the physical robot and the simulation robot by the same topic.At the top of the system,the system application software is written in Python and PyQt.The software adopts modular structure design,with a simple interactive GUI,can control the industrial robot to move under the joint coordinate system and the world coordinate system,and support simple teaching control.In this paper,a kinematic node is developed for the control of the robot under world coordinate system.The nodes are served to the application layer software in the form of topic and service,belong to the service layer node of the system.Finally,the application software and system functions are tested under the real robot and the simulation robot respectively,which verifies the reliability of the whole system and the correctness of the software function.By observing the delay of EtherCAT data transmission,it proves the advantage of high speed and high efficiency of data transmission,and achieves the initial goal of this paper.