EtherCAT based robot modular joint controller

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	EtherCAT based robot modular joint controller
	Liu ZM(刘钊铭); Liu NL(刘乃龙); Zhang T(张涛); Cui L(崔龙); Li HY(李洪谊)
	2015
会议名称	2015 IEEE International Conference on Information and Automation
会议日期	Augest 8-10, 2015
会议地点	Lijiang, China
关键词	EtherCAT robot real-time
页码	1708-1713
中文摘要	EtherCAT technology is originally developed by Beckhoff. EtherCAT is by and large the fastest industrial Ethernet technology, and it also synchronizes with nanosecond accuracy. EtherCAT sets new standards for real-time performance and topology flexibility. In this paper, the development of EtherCAT based robot modular joint controller is introduced. This paper describes the hardware and software design, such as PDI design, Slave Stack Code, CiA402 Driver Profile, device description file design and so on. At last, experiments are implemented to test the controller.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4673-9104-7
WOS记录号	WOS:000380562200314
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17456]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu ZM,Liu NL,Zhang T,et al. EtherCAT based robot modular joint controller[C]. 见:2015 IEEE International Conference on Information and Automation. Lijiang, China. Augest 8-10, 2015.