IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Real-Time Centralized Soft Motion Control System for High Speed and Precision Robot Control

고속 정밀 로봇 제어를 위한 실시간 중앙 집중식 소프트 모션 제어 시스템

  • Received : 2013.02.15
  • Accepted : 2013.11.01
  • Published : 2013.12.31
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Abstract

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

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