Development of a Compact Motor Controller supporting EtherCAT for a Dual-arm Telepresence Robot

Authors
Yoon, Dae-KeunKim, Shin-YoungYou, Bum-JaeLee, Kwang-KyuCho, JaiHi
Issue Date
2014-11
Publisher
IEEE
Citation
11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp.253 - 256
Abstract
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.
ISSN
2325-033X
URI
https://pubs.kist.re.kr/handle/201004/115088
Appears in Collections:
KIST Conference Paper > 2014
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