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袁俊杰,刘海涛,潘国庆,等. 基于EtherCAT和TwinCAT3的协作机器人控制系统设计[J]. 科学技术与工程, 2021, 21(8): 3159-3168.
yuanjunjie,liuhaitao,潘国庆,et al.Design of collaborative robot control system based on EtherCAT and TwinCAT3[J].Science Technology and Engineering,2021,21(8):3159-3168.
基于EtherCAT和TwinCAT3的协作机器人控制系统设计
Design of collaborative robot control system based on EtherCAT and TwinCAT3
投稿时间:2020-06-10  修订日期:2020-12-21
DOI:
中文关键词:  EtherCAT  TwinCAT3  C++  协作机器人  控制系统
英文关键词:EtherCAT  TwinCAT3  C++  Collaborative robot  Control system
基金项目:北京市基金-教委联合资助项目(KZ202010009015)
           
作者单位
袁俊杰 北方工业大学
刘海涛 北方工业大学
潘国庆 北京航天测控技术有限公司研发中心
王红伟 北京航天测控技术有限公司研发中心
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中文摘要:
      为了降低机器人控制系统的研发周期和方便操作人员使用操作,通过对TA6-R5型协作机器人的研究,设计了基于EtherCAT和TwinCAT3的协作机器人控制系统。采用D-H法建立运动学模型,求出正运动学解析解,根据各关节转动角度绝对值之和最小的原则求解出最优逆解,利用MATLAB的Robotics Toolbox验证运动学。利用TwinCAT3搭建控制系统,实现编程控制以及HMI,通过EtherCAT总线的高实时性实现数据控制与反馈。最后,利用同步周期位置模式进行笛卡尔空间轨迹规划,结合TwinCAT Measurement的Scope View图形化工具可观测和验证系统执行情况,结果表明基于EtherCAT和TwinCAT3的协作机器人控制系统可降低控制系统研发周期,提高研发效率。
英文摘要:
      In order to shorten the R&D cycle of robot control system and make it easier to operate, a cooperative robot control system was designed based on EtherCAT and TwinCAT3 cthrough the study of TA6-R5 cooperative robot. The D-H method was used to establish the kinematics model, and the forward kinematics analytic solution was obtained. The optimal inverse solution was solved according to the principle of minimum sum of curl angles of all joints, and the kinematics was verified with Robotics Toolbox of MATLAB. TwinCAT3 was used to build a control system to realize programming control and HMI. Data control and feedback were realized through EtherCAT bus with high real-time performance. Finally, the cyclic synchronous position model was taken for Cartesian space trajectory planning, with the Scope View of TwinCAT Measurement adopted for the observation and verification of the system’s implementation. The results showed that the cooperative robot control system based on EtherCAT and TwinCAT3 could reduce the R&D cycle of the control system, improve the R&D efficiency.
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