Sun Lim

An EtherCAT based control system for human-robot cooperation

In this paper, we propose an EtherCAT based control system for human-robot cooperation. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of HRCMC(Human-Robot Cooperation Master Controller) and HRESC(Human-Robot EtherCAT Slave Controller). For human-robot cooperation, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, HRCMC is designed using RTOS and EtherCAT network and HRESC has the capability to collect and transfer to HRCMC all sensor information of robot including force sensors. It is proven by experimental results that the proposed system has real time controllability for force interaction based Human-Robot cooperation system.

EtherCAT Based Parallel Robot Control System

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 20 us-second with 1000 bytes. EtherCAT is very high speed and stable industrial network. The control strategy with EtherCAT is very useful and robust on Ethernet network environment. In this study, we propose the centralized parallel robot control mechanism approach. The experiment and simulation result using selected approach is omitted.

An EtherCAT based real-time centralized soft robot motion controller

In this paper, we propose an EtherCAT based centralized soft motion control system for real-time robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of Software-based Master Controller and Slave Interface Module. For robot control, hard real-time control capacity is essential to apply for various applications (ex. high speed parallel robot control, etc.). For the real time control, The software-based Master Controller is designed using a real time kernel and EtherCAT network, and servo processes is located in the master controller. The slave interface module just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability for robot control.

Implementation and performance evaluation open-source controller for precision control of gripper

This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

IT Assembly Process Gripper Real-Time Embedded System Design

In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

A performance evaluation and task scheduling of EtherCAT networked soft motion control system (ISR 2013)

In this paper, we evaluate the performance of networked soft motion control system for real-time applications like compliance control in robotics. We engage EtherCAT as the high speed industrial network since it is widely used for soft motion control thanks to its software master stack. The performance of networked control system is constrained by fixed cyclic communication capacity. For most of advanced motion control applications, more than 1kHz control is required in real time. A networked soft motion control system with EtherCAT is proposed and its communication-constrained performance is tested up to 10kHz control. It is experimentally proven that even the networked soft motion control system is applicable in realtime applications.

EtherCAT based Multi-model robot controller

In this paper, we propose an EtherCAT based Multi-model robot controller. The controller engages EtherCAT as high speed industrial motion network to enable both force based robot motion control in real-time and digital interface of various sensor data for multi-model robot control. The controller is composed of PC-based Master Controller and Slave Interface Module, which makes it capable to easily interface different types of sensors. For robot control, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, The PC-based Master Controller is designed using RTOS and EtherCAT network and the slave interface module has the capability to collect and transfer all sensor information of robot including force sensors to the master controller. It is proven by experimental results that the proposed system has real time controllability for robot control.