SIA OpenIR  > 机器人学研究室
Alternative TitleRobot compliance control system and method based on EtherCAT bus
张峰; 张涛; 李涛; 崔龙; 李洪谊; 李伟; 阳方平
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a robot compliance control system based on an EtherCAT bus, comprising a master station, a robot driver, a motor and a torque sensor. The master station is connected with the robot driver through an EtherCAT bus, and the robot driver is connected with the motor and the torque sensor. The master station superposes motor periodic data acquired by the robot driver and a set expected value and carries out impedance control, and outputs a reference torque value to the robot driver. The invention provides an EtherCAT bus-based modular robot compliance control method which has the advantages of strong real-time performance, high reliability, low cost and small size, and the method adapts to the requirements of the modern robots in executing contact work. The system and the method completely obey the EtherCAT protocol, and can be mixed with other EtherCAT drivers in use. Therefore, the application range of the method is increased.
PCT Attributes
Application Date2014-11-26
Application NumberCN201410696611.4
Open (Notice) NumberCN105700465A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
张峰,张涛,李涛,等. 基于EtherCAT总线的机器人柔顺控制系统和方法[P]. 2016-06-22.
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