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:
刘鑫, 闵华松, 陈友东, 王晟. 基于EtherCAT的工业机器人控制器设计[J]. 计算机工程, 2012, 38(11): 290-292.
LIU Xin, MIN Hua-Song, CHEN You-Dong, WANG Cheng. Design of Industrial Robot Controller Based on EtherCAT[J]. Computer Engineering, 2012, 38(11): 290-292.