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Modular robot driver based on EtherCAT and control method

A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as limited joint space, difficulty in improving joint performance, and complex electromagnetic environment, so as to save overall cost, reduce joint components, and improve reliability effect

Active Publication Date: 2015-05-06
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the limited internal space of the joint and the complex electromagnetic environment, it is difficult to improve the performance of the joint, which limits the overall performance of the robot.

Method used

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  • Modular robot driver based on EtherCAT and control method
  • Modular robot driver based on EtherCAT and control method
  • Modular robot driver based on EtherCAT and control method

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Embodiment Construction

[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings and implementation examples.

[0037] A modular joint driver applying EtherCAT bus communication technology, including a core controller, a motor drive unit, a HALL encoder circuit, an NRZ encoder circuit, a brake circuit, a torque sensor bridge circuit, an RS232 communication circuit, and an EtherCAT communication circuit , power supply, status display circuit, STO and I / O circuit, application layer program. The method includes: executing the program with the core controller, running the algorithm, driving the motor, completing the three closed loops, and realizing the communication with the host; realizing the data link layer and the physical layer communication of the EtherCAT protocol with the ESC control chip and the PHY chip; on the core controller Write programs to implement application layer functions.

[0038] like figure 1 As shown, the device includ...

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Abstract

The invention relates to a modular joint driver using the EtherCAT bus communication technology. The modular robot driver comprises a core controller, a motor driving unit, a HALL encoder circuit, an NRZ code disc circuit, a band-type brake circuit, a torque sensor bridge circuit, an RS232 communication circuit, an EtherCAT communication circuit, a power source, a state display circuit, an STO and I / O circuit and an application layer program. A control method includes the steps that the core controller executes the program, operates an algorithm and drives a motor to finish three closed loops and realize communication with a mainframe; an ESC control chip and a PHY chip are used for realizing communication of a data link layer and a physical layer of an EtherCAT protocol; the program is written on the core controller to realize the functions of an application layer. The modular robot joint driving control method and device using an EtherCAT bus are high in practicability, reliability, communication speed and integration degree, low in cost and small in size.

Description

technical field [0001] The invention relates to a modular joint driver applying the EtherCAT bus communication technology and a control method thereof, which can be applied to a modular robot and an integrated transmission system. Background technique [0002] The research of modular robot has always been an important research content in the field of robotics. Adopting a modular design method can improve the reusability, scalability and easy maintenance of the robot system, especially with the development of the robot's versatility, flexibility and fault-tolerance research, the modularization of robot joints has become the core technology. [0003] However, a large number of mechatronics equipment needs to be integrated inside the modular joint of the robot, such as motors, motor drives, electromagnetic brakes, encoders, limit switches, reducers and torque sensors. These devices must cooperate with each other and realize specific functions independently or in cooperation, w...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/18
Inventor 张涛刘钊铭李涛张峰袁顺宁赵亮李伟崔龙李洪谊
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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