Development of a Compact Motor Controller supporting EtherCAT for a Dual-arm Telepresence Robot
- Authors
- Yoon, Dae-Keun; Kim, Shin-Young; You, Bum-Jae; Lee, Kwang-Kyu; Cho, 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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