High real-time control system of robot single leg based on ethercat

Abstract

An EtherCAT-based high real-time control system for one leg of a robot, including an upper computer, an industrial computer, a driver, and an encoder. The industrial computer and the upper computer transmit data through network communication, and the industrial computer acts as a master station. The driver is connected to the encoder as a slave station, and the industrial computer runs the control algorithm to obtain the output torque of each joint of the leg-footed robot, convert it into a current value, and transmit it to the driver through EtherCAT communication. The driver realizes the motor output through the built-in current loop With a given torque, the movement of a single leg is realized. In the synchronous mode of the communication framework, the present invention runs the single-leg forward jump algorithm, and the single-leg robot has good real-time and compliance performance, and reduces the complexity of the hardware by adopting a linear topology and a ring structure in the single-leg robot Wiring ensures the real-time and reliability of the control system of the electric-driven single-leg robot, and improves the stability and high precision of the control at the same time.

Description

technical field [0001] The invention relates to a single-leg high real-time control system based on EtherCAT for electrically driving a legged robot, belonging to the application field of industrial Ethernet and the control technology field of quadruped robot. Background technique [0002] EtherCAT is a real-time industrial Ethernet technology that has been widely used in many fields in recent years. [0003] In the field of legged robots, the construction of real-time control systems has always been a core issue in this field. At present, there are many real-time system solutions. For example, Cheetah2 of MIT uses a real-time system based on RS-422 communication with a controller provided by NI, and StarlETH of ETH Zurich uses a ROS-based robot. The real-time system of the system, etc., or adopt the company's mature solution, or build it based on the robot system. However, since none of the professional real-time systems are used, the real-time system performance of the c...

AI Technical Summary

Problems solved by technology

[0007] For the current research on electric-driven leg-footed robots, there are still the following core problems: higher requirements for real-time performance, response speed, and communication bandwidth of the control system; real-time control system construction, lack of real real-time systems ; When subject to external interference, the anti-interference ability is slightly worse

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