| 基于开源倍福控制系统的机器人控制系统设计 |
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| 引用本文： | 刘飞飞,伍伊军,古帅奇,高堂盼.基于开源倍福控制系统的机器人控制系统设计[J].单片机与嵌入式系统应用,2017,17(6). |
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| 作者姓名： | 刘飞飞 伍伊军 古帅奇 高堂盼 |
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| 作者单位： | 1. 江西理工大学电气工程学院,赣州,341000;2. 江西理工大学机电工程学院 |
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| 基金项目： | 基于嵌入式系统的机器人通用多轴控制器开发 |
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| 摘 要： | 为了给机器人控制系统构建高精度超高速控制解决方案,采用开放式自动化Beekhoff控制系统的XFC技术,以TwinCAT作为软件平台,采用高性能ARM9S3C2440为SoC,超高速开放式EtherCAT为通信系统,并通过分布式Eth-erCAT时钟进行同步,提升了系统高动态处理运行性能,确保所有子流程的延迟降低,为机器人多样化运动控制提供了新的思路和解决方案.
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| 关 键 词： | 倍福控制系统 机器人 TwinCAT |
Robot Control System Based on Open Source Beckhoff Control System |
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| Liu Feifei,Wu Yijun,Gu Shuaiqi,Gao Tangpan.Robot Control System Based on Open Source Beckhoff Control System[J].Microcontrollers & Embedded Systems,2017,17(6). |
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| Authors: | Liu Feifei Wu Yijun Gu Shuaiqi Gao Tangpan |
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| Abstract: | In order to build a robot control system of high precision ultra-high speed control solution,the XFC technology of open Beckhoff automation control system is used, and the TwinCAT is used as the software platform, the high performance chip ARM9S3C2440 is used as SoC,and the ultra-high speed open EtherCAT is used as the communication system.The distributed EtherCAT clock is used for clock synchronization.The solution improves the dynamic processing performance.The latency of all subprocesses are reduced, thus it provides new ideas and solutions for the diversification of robot motion control. |
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| Keywords: | Beckhoff control system robot TwinCAT |
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