Real time PC Based Control of Parallel Robot
In this paper, we describe the control strategy of high speed parallel robot system with EtherCAT network. This work deals the parallel robot system with centralized control on the real-time operating system such as window RTX, intime etc. Most control scheme and algorithm is implemented master platform on the PC, the input and output interface is ported on the slave side. The data is transferred by maximum 20usecond with 1000byte. EtherCAT is very high speed and stable industrial network. The control strategy with EtherCAT is very useful and robust on Ethernet network environment. Our system is selected window based Twincat EtehrCAT master platform for users. The system has very advantage for implementation and running of the control system.
Keywords- Parallel Robot Control, Ethercat, Realtime-Control