Development of EtherCAT real-time control system for robot based on Simulink Real-Time
Song Wang, Xudong Yang, J. van der Geer · Journal of Computational Methods in Sciences and Engineering · 2020
In industrial applications, EtherCAT control technology requires the use of TwinCAT control software with dedicated servos for real-time control. In order to solve the limitations of the practical application of EtherCAT, this experiment combines EtherCAT real-time control technology with Simulink Real-Time real-time control technology to design a new EtherCAT real-time control technology based on Simulink Real-Time. In the experiment, D2 delta robot is used as the control object, and the real-time control environment of Simulink Real-Time is set up to build the EtherCAT real-time communication model. The established real-time control model is added to the robot control system to realize the motion control of the robot.