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对自行设计的五自由度机械臂进行了运动学分析。为了实现对机械臂控制的实时性和可扩展性,研制了一种基于以太网控制自动化技术(EtherCAT)总线通信的机器人控制系统,采用ACS公司的SPiiPlus软件作为软主站,以ACS公司的两款基于EtherCAT的数字伺服驱动器UDMmc、UDMlc和Beckhoff公司的EK1100耦合器模块作为从站组成EtherCAT实时系统。对EtherCAT的主从站进行了一系列配置,并在五自由度机械臂平台上验证了轨迹规划的平稳性和系统的稳定性、实时性。
Kinematics analysis of self-designed five-degree-freedom manipulator was carried out. In order to realize the real-time and scalability of the manipulator control, a robot control system based on EtherCAT bus communication was developed. The SPIIPlus software of ACS was used as the soft master, EtherCAT-based digital servo drives UDMmc, UDMlc and Beckhoff’s EK1100 coupler modules act as slaves for the EtherCAT real-time system. A series of configurations of the master and slave of EtherCAT were carried out. The stability of the trajectory planning and the stability and the real-time performance of the system were verified on a five-DOF robotic platform.