Control System Design for High Payload Industrial Robot via High Speed Communication Bus and Real-Time System
In this paper, aiming at solving the problems of dynamic coupling effects and flexibility of joints and links, a kind of control system specialized for high payload industrial robots is proposed . After the comparisons between the control systems in all kinds of robots and numerical machines, industrial PC with TwinCAT real-time system is chosen as the motion control unit, EtherCAT is used for command transmitting. The whole control system has a decoupled and centralized control structure. The proposed control system is applied in control of a kind of high payload material handling robots with complex compound control algorithms. The final results shows that the control commands can be easily calculated and transmitted in one sample unit. The proposed control scheme is meaningful to real engineering application.
Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen
W. You et al., "Control System Design for High Payload Industrial Robot via High Speed Communication Bus and Real-Time System", Key Engineering Materials, Vol. 464, pp. 272-278, 2011