TY - GEN
T1 - Multi-tasking Syetem Design for Multi-axis Synchronous Control of Robot Based on RTOS
AU - Li, Xiang
AU - Ma, Xudong
AU - Song, Wenbin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/9
Y1 - 2020/11/9
N2 - With the complexity of industrial robot mechanisms, from multi-axis single-arm robots to multi-axis dual-arm robots to multi-robot collaborations, the requirements for real-time communication and synchronous control of robots have become higher and higher. In order to solve the problem of real-time communication and synchronization of control of the complex mechanism of the robot, a real-time robot control system with a multi-task structure based on an open source RTOS is designed. First, the development direction of contemporary robot controllers and some mainstream robot controllers are introduced. Then, the overall architecture of the real-time robot control system based on EtherCAT is given in the real-time requirements of the control system. The control system is based on the open-source SylixOS embedded RTOS. It follows a modular concept and uses the control layer as the core to form a real-time multi-tasking structure. With the help of the EtherCAT open-source protocol stack code, the controller and the servo drive system can realize real-time data interaction. Then, test whether the RTOS's real-time performance meets the controller's requirements, and analyze the EtherCAT synchronization mechanism. Finally, a real-time multi-task control system experiment on a dual-arm robot is built.
AB - With the complexity of industrial robot mechanisms, from multi-axis single-arm robots to multi-axis dual-arm robots to multi-robot collaborations, the requirements for real-time communication and synchronous control of robots have become higher and higher. In order to solve the problem of real-time communication and synchronization of control of the complex mechanism of the robot, a real-time robot control system with a multi-task structure based on an open source RTOS is designed. First, the development direction of contemporary robot controllers and some mainstream robot controllers are introduced. Then, the overall architecture of the real-time robot control system based on EtherCAT is given in the real-time requirements of the control system. The control system is based on the open-source SylixOS embedded RTOS. It follows a modular concept and uses the control layer as the core to form a real-time multi-tasking structure. With the help of the EtherCAT open-source protocol stack code, the controller and the servo drive system can realize real-time data interaction. Then, test whether the RTOS's real-time performance meets the controller's requirements, and analyze the EtherCAT synchronization mechanism. Finally, a real-time multi-task control system experiment on a dual-arm robot is built.
KW - Distributed Clock Synchronization
KW - EtherCAT
KW - RTOS
KW - Real-time Multi-tasking
UR - http://www.scopus.com/inward/record.url?scp=85097556407&partnerID=8YFLogxK
U2 - 10.1109/ICIEA48937.2020.9248319
DO - 10.1109/ICIEA48937.2020.9248319
M3 - Conference contribution
AN - SCOPUS:85097556407
T3 - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
SP - 356
EP - 360
BT - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Y2 - 9 November 2020 through 13 November 2020
ER -
