计算机工程2012，Vol.38Issue(11)：290-292,封3,4.DOI:10.3969/j.issn.1000-3428.2012.11.088
基于EtherCAT的工业机器人控制器设计
Design of Industrial Robot Controller Based on EtherCAT
摘要
Abstract
For the current controller's shortage in openness and real-time, this paper addresses an architecture of industrial robot controller which communicates by EtherCAT protocol. In order to meet the high-reliability and real-time requirements, the controller uses the embedded microprocessor Advanced RISC Machine(ARM) as the core hardware, and it uses hierarchical structure of component to design the software based on uC/OS-Ⅱ, which can improve reusability. Test results show that the controller system has strong real-time performance and easy-expansibility.关键词
开放式控制器/工业机器人/嵌入式系统/EtherCAT总线/时钟同步Key words
open controller/ industrial robot/ embedded system/ EtherCAT bus/ clock synchronization分类
自科综合引用本文复制引用
刘鑫,闵华松,陈友东,王晟..基于EtherCAT的工业机器人控制器设计[J].计算机工程,2012,38(11):290-292,封3,4.基金项目
国家"863"计划基金资助项目"工业机器人控制器开发"(2011AA04A104) （2011AA04A104）
