The robot manufacturers use their own controller software and hardware frameworks,and the source code is not publicly available,so it is difficult to go in for secondary development of robot controllers.In view of this problem,an EtherCAT master station controller with openness,portability and high scalability was developed using the IgH framework.A master station software solution com-bining Linux and Xenomai dual core real-time system with IgH EtherCAT master station was designed;the real-time performance of the Linux system kernel was upgraded using Xenomai and the IgH EtherCAT master station was also transplanted.An analysis of the IgH EtherCAT communication process was conducted,and communication application programs for the IgH EtherCAT master and slave sta-tions were developed.Finally,a testing platform for the robotic arm was built using upper monitor and Hechuan servo equipment,and the movement of the robotic arm controlled by the IgH EtherCAT master station controller was tested.The experimental results show that the main station controller has good real-time performance and stability;under a communication cycle of 1 ms,EtherCAT communication between the master and slave stations is achieved,thereby achieving motor motion control at the slave stations.This provides a master slave communication foundation for the development of a robotic arm control system based on the MoveIt open-source framework.
IgH EtherCATXenomaimaster station controllerreal-timerobotic arm
NETL
NSTL
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