郎需林, 靳东, 张承瑞, 张岳, 王云飞, 刘亚男. 基于实时以太网的DELTA并联机械手控制系统设计[J]. 机器人, 2013, 35(5): 576-581.DOI: 10.3724/SP.J.1218.2013.00576.
LANG Xulin, JIN Dong, ZHANG Chengrui, ZHANG Yue, WANG Yunfei, LIU Ya'nan. Control System Design of DELTA Parallel Manipulator Based on Real-time Ethernet. ROBOT, 2013, 35(5): 576-581. DOI: 10.3724/SP.J.1218.2013.00576.
摘要
针对DELTA并联机械手现有控制器开放性和可扩展性不足的缺陷，提出了基于实时以太网运动控制平台Ether MAC（Ethernet for Manufacture Automation Control）的控制系统设计方案．该方案通讯总线采用独特的从节点同步与时钟校正技术，使用标准以太网，可在无需专用网卡和强实时操作系统的情况下，实现同步实时控制；通过从节点FPGA_IP核模块化结构和组件分层式软件架构，实现不同分拣包 装工艺下DELTA机械手的快速开发．根据样机工作环境下控制器响应时间的测试，该方案满足实时同步控制的要求．
To overcome the shortages of current DELTA parallel manipulator controllers in openness and expansibility, a control system design is proposed using motion control platform EtherMAC (Ethernet for Manufacture Automation Control), which is based on real-time Ethernet. In this method, synchronous real-time control is realized under standard Ethernet without special network adapter and hard real-time operation system by communication bus using slave node synchronization and clock correction technology. Furthermore, with the modular-structured slave node FPGA _IP core and component-based layered software architecture, DELTA manipulator can be developed quickly to adapt to different sorting and packaging situations. According to controller response time under prototype working condition, this method is proved to meet the requirements of synchronous real-time control.
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