摘要： 针对控制器系统在开放性和实时性等方面存在的不足，设计一种利用EtherCAT协议进行通信的工业机器人控制系统体系结构。为使系统具有更高的可靠性和实时性，利用嵌入式微处理器ARM作为硬件核心，在μC/OS-II的基础上采用组件式分层结构设计软件架构，以提高可重用性。实验结果证明，该控制器系统实时性强，且便于扩展。

关键词: 开放式控制器, 工业机器人, 嵌入式系统, EtherCAT总线, 时钟同步

Abstract: For the current controller’s shortage in openness and real-time, this paper addresses an architecture of industrial robot controller which communicates by EtherCAT protocol. In order to meet the high-reliability and real-time requirements, the controller uses the embedded microprocessor Advanced RISC Machine(ARM) as the core hardware, and it uses hierarchical structure of component to design the software based on μC/OS-II, which can improve reusability. Test results show that the controller system has strong real-time performance and easy-expansibility.

Key words: open controller, industrial robot, embedded system, EtherCAT bus, clock synchronization

中图分类号: 

• N945