Yoon, Dae-Keun Kim, Shin-Young You, Bum-Jae Lee, Kwang-Kyu Cho, JaiHi 2024-01-19T11:40:42Z 2024-01-19T11:40:42Z 2022-03-01 2014-11 2325-033X https://pubs.kist.re.kr/handle/201004/115088 This paper proposes a compact embedded motor controller that can be mounted in a robot arm. Three different control modes are implemented in the controller: torque, velocity, and position. It supports EtherCAT network for real-time control whose control frequency is faster than 1kHz for 18 network nodes under Linux Xenomai operating system. The compact controllers are mounted inside an 18-DOFs dual-arm telepresence robot for smart shape design. Finally, the robot is connected with a master haptic device Omega-6 and showed successful tele-operation performance. English IEEE Development of a Compact Motor Controller supporting EtherCAT for a Dual-arm Telepresence Robot Conference 1 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp.253 - 256 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 253 256 US Kuala Lumpur, MALAYSIA 2014-11-12 2014 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) 000383742100065 2-s2.0-84988241376