A Control System Design for 7-DoF Light-weight Robot based on EtherCAT Bus

摘要

In order to increase control frequency and expansibility for 7-degree-of-freedom(DoF) light-weight, a novel robot control system based on EtherCAT bus is designed. The control system consists of arm controller and joint controller. The arm controller is implemented by a core-i5 PC, which achieves motion control, trajectory planning and real-time task planning. The joint controller is designed based on Field Programmable Gate Array(FPGA), which achieves sensor samping and motor control. EtherCAT bus achieves data transmission between joint controller and arm controller. The experiment results show that our control system can achieve higher control frequency and better expansibility.