Twelve-axis mechanical arm control system of EtherCAT bus

Abstract

The invention discloses a twelve-axis mechanical arm control system of an EtherCAT bus. The system comprises a PC linux master station, a human-computer interaction interface, an EtherCAT controller I, an EtherCAT controller II, an input module, a storage module, a generation module, a motion controller module, a twelve-axis mechanical arm control card module and a visual detection module. The PClinux master station comprises an Ethernet, the Ethernet is respectively connected with the EtherCAT controller II and the human-computer interaction interface, and the EtherCAT controller II is connected with the twelve-axis mechanical arm control card module through the motion controller module. The twelve-axis mechanical arm control system has the advantages that the twelve-axis mechanical armcontrol system is optimized, the real-time performance and stability of twelve-axis mechanical arm control can be effectively guaranteed, meanwhile, response of the control system is shortened, and the efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a twelve-axis manipulator control system with an EtherCAT bus. Background technique [0002] The robotic arm is the most widely used automatic mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and precisely locate a certain point in three-dimensional space for operation. [0003] The traditional way of using PC to drive the control card, communication is the main bottleneck of equipment performance improvement, and it can no longer meet the control of the 12-axis manipulator. In addition, the traditional five-axis or six-axis linkage manipulator has poor flexibility in movement. There are few degrees of freedom, long resp...

AI Technical Summary

Problems solved by technology

[0003] The traditional way of using PC to drive the control card, communication is the main bottleneck of equipment performance improvement, and it can no longer meet the control of the 12-axis manipulator. In addition, the traditional five-axis or six-axis linkage manipulator has poor flexibility in movement. There are few degrees of freedom, the response time is long, and the control system has a large load problem

Images