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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)
作者部门机器人学研究室
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
会议录名称2015 IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1708-1713
收录类别EI ; CPCI(ISTP)
EI收录号20161102092937
WOS记录号WOS:000380562200314
产权排序1
ISBN号978-1-4673-9104-7
关键词Ethercat Robot Real-time
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.
语种英语
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17456
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang, Liaoning Province, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Liu ZM,Liu NL,Zhang T,et al. EtherCAT based robot modular joint controller[C]. Piscataway, NJ, USA:IEEE,2015:1708-1713.
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