摘要
本文為發展機器人關節模組設計，主要以DSP作為基礎開發關節模組的驅動控制系統，搭配EtherCAT(工業乙太網路) 作為機械手臂各軸之間的通訊方式以及與上位控制器的連接，達到六軸之間的調控。DSP為德州儀器公司所出產的微處理器，可處理大量的數位資料，能滿足各種工業自動化驅動器產品之間不同的需求。EtherCAT的開發目的主要是讓乙太網路能夠靈活運用於工業自動化系統當中，並且能同時達到快速的資料更新速度與低成本的優點。本文一開始先介紹永磁馬達的控制架構，接著再介紹EtherCAT與功率級的特色，最後將其模組化，並且應用在六軸與四軸機械手臂上。
並列摘要
This article is about the design and development of robot joint modules, in which DSP is used for joint module drive control system, and EtherCAT is adopted as the communication between each axis of the robot arm and the host controller to achieve regulation between the six-axis. DSP is microprocessor produced by Texas Instruments that can handle a large number of digital data to meet the different needs of various industrial automation drive products. The purpose of EtherCAT development is mainly to allow Ethernet to be used flexibly in industrial automation systems, as well as to achieve high data update speed without increasing the cost of hardware. In this paper, PM motor control architecture is first introduced, then the characteristics of EtherCAT and power stage are discussed. Finally, modularization and application to six-axis and four-axis robot arms are discussed.
延伸閱讀
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