华中科技大学学报（自然科学版）Issue(z1)：501-504,4.DOI:10.13245/j.hust.15S1119
基于 SERCOS-Ⅲ的工业机器人控制器设计
Design of industrial robot controller based on SERCOS-Ⅲ
摘要
Abstract
Development technology of moular,open control system of industrial robot based on real-time Ethernet was studied,and hardware and software architectures of industrial robot controller based on SERCOS-Ⅲ real-time Ethernet were proposed.In the hardware design,the ARM cortex A8 embedded processor,the CPU of industrial controller,was equipped with a universal communication module comX100-CA-RE as SERCOS-Ⅲ master.In software design,the driver development of comX communication module in RT-Linux was completed.And real-time communication between master and slaves was realized.Furthermore,jog motion control of industrial robots was developed.Finally,the control system was tested in the multi-axis motion control platform,and the results showed the effec-tiveness of the developed control system.关键词
工业机器人/控制器/实时以太网/SERCOS-Ⅲ/点动Key words
industrial robot/controller/real-time Ethernet/SERCOS-Ⅲ/jog motion分类
信息技术与安全科学引用本文复制引用
曲志兵,周波,孟正大,戴先中..基于 SERCOS-Ⅲ的工业机器人控制器设计[J].华中科技大学学报（自然科学版）,2015,(z1):501-504,4.基金项目
国家重大科技专项资助项目（2010zx04008-041）；江苏省科技成果转化项目（BA2014044）． （）
