Design of industrial robot controller based on SERCOS-III

作者：Qu Zhibing; Zhou Bo^*; Meng Zhengda; Dai Xianzhong

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2015, 43(S1): 501-504.

DOI：10.13245/j.hust.15S1119

• Development technology
• Hardware and software architectures
• Industrial controllers
• Jog motions
• Multi-axis motion control
• Real time Ethernet
• Real-time communication
• SERCOS-III

Development technology of moular, open control system of industrial robot based on real-time Ethernet was studied, and hardware and software architectures of industrial robot controller based on SERCOS-III real-time Ethernet were proposed.In the hardware design, the ARM cortex A8 embedded processor, the CPU of industrial controller, was equipped with a universal communication module comX100-CA-RE as SERCOS-III master.In software design, the driver development of comX communication module in RT-Linux was completed.And real-time communication between master and slaves was realized.Furthermore, jog motion control of industrial robots was developed.Finally, the control system was tested in the multi-axis motion control platform, and the results showed the effectiveness of the developed control system.

• 出版日期2015
• 单位东南大学