The Design Of Industrial Robot Perception And Control System Based On EtherCAT

Industrial robot is a multi-joint manipulators or multi-degree-of-freedom robots oriented to industrial field,mainly engaged in welding,handing,palletizing and other work,widely used in automobile,electronics,petroleum,chemical and other industries,and also an important standard to measure the level of manufacturing in a country.Foreign research on industrial robots is relatively early,and many mature products have been developed.But our country starts late,although it develops rapidly,there is still a big gap with foreign robot manufacturers,especially in core technology such as controllers,precision reducers and so on.At the same time,with the loss of demographic dividend the market demand for industrial robots is increasing.Therefore,the research and development of robot Perception and control has certain practical significance.The topics first studies the research status and development trend of industrial robots at home and abroad,and compares several industrial robot control system which are more mainstream at present.Based on this,the control method of industrical robot based on Ether CAT is proposed The hardware is constituted by PC,Ether CAT interface motion control card and a vision sensor board with an Ether CAT interface.The softward is based on Linux CNC,and adding Ether CAT master protocol,GUI and control algorithm.Linux CNC run on PC,and calculate the control quantity,then sent the control quantity to every servo unit via Ether CAT.And the sensing device feeds back visual information to the PC via Ether CAT.The main station PC in the control system can be low-power Industrial PC or modified embedded PC(External NIC+ Raspberry Pi PC);Motion control card is designed by ARM+FPGA,which mainly includes the FPGA control circuit,the ARM control circuit,the Ether CAT slave station controller and so on;The acquisition control board includes Raspberry Pi PC and Ether CAT slave communication board.The software includes PC software and board software(Motion control card and Sensor control card).Simplify the PC software research through the Linux CNC software,but still need to study real Linux and the Ether CAT master protocol stack,Motion control card software includes the ARM-based slave controller software,FPGA-based quadrature pulse sending and receiving.Sensor control card through the Open CV but still need study Ether CAT slave communications protocol stack.After completing the design some performance of the system that was tested,including the Ether CAT real-time test,the absolute encoder reading test,the servo drive-pulse generation test and so on.