Research Of Articulated Robot Control System Based On EtherCAT

With the rapid development of industry,the status of joint robots in the modern manufacturing industry has become higher and higher,and the accuracy and stability of the end-of-path of the articulated robots have a very important relationship with the performance of the control system of the articulated robots Therefore,the joint robot control system has become one of the focuses of current research.Ethernet technology makes it easy to interconnect systems,and with a common standard,applying them to a joint robot control system not only increases the performance of the joint robot system,but also reduces the cost of interconnecting devices.The motion control system of the joint robot based on EtherCAT belongs to the network type control system.Compared with the traditional joint robot control system,the motion control system of the joint robot has the advantages of low cost and easy modularization,and can realize an arbitrary topological structure and fast data transmission.Based on the traditional control,this paper applies EtherCAT technology to the control of industrial joint robot,improves the real-time performance of the system and improves the control precision of the joint robot.First of all,the framework of the control system is listed.The robot arm's frame,the driving part and the sensor part have a preliminary understanding of the structure of the whole joint robot.The control relation between the movement and the power between the joint and the joint and between the joint and the end of the frame is analyzed.A reasonable control system is designed and a multi-degree-of-freedom joint robot testing platform is set up.Robot control system for control signal testing in the verification.The control system of the joint robot is studied and the classification of the control system in decentralized and centralized manner is compared accordingly.Finally,the scheme of the control system based on the EtherCAT joint machine is finally selectedSecondly,according to the above analysis of the control of joint robot to develop suitable for the system hardware.Samsung S3C2440 A chips used as the master robot control system from the station control chip;BACKHOFF ET1100 chip as a communication protocol chip;TM3202812 chip as a brushless DC output unit of the chip processing chip;EP4CE6E22C8N chip with a large number of I / O ports,the final design of a network with self-display capability and stand-alone slave control panel.On the basis of the finished system hardware,we have done some research on the driver written by PC software and slave.The master utilizes the proven LINUXCNC software,simplifying the task of PC control application development.In order to improve the real-time performance of the master station,the communication between EtherCAT bus and LINUXCNC is researched and the hardware abstraction layer(HAL)about the data transmission pin of the robot is developed.From the station,the communication of EtherCAT slave protocol was studied,and the driver of slave control part was studied accordinglyFinally,using the experimental platform that has been constructed,the signal accuracy and real-time performance of the robot control system are tested.According to the experimental data,the real-time control system and the accuracy of the control signal are validated.According to the experimental results,the performance of the system is evaluated and the control system of the joint robot is given a better reference...