@inproceedings{15d7060b7dac4b09b78391793dd0d13b,
title = "An EtherCAT-based real-time motion control system in mobile robot application",
abstract = "This paper presents a real-time motion control system using EtherCAT protocol and its application on a differential drive mobile robot. The motion controller is designed from open-source components consisting of dual kernel approach using standard Linux and real-time extension of Xenomai, and the EtherCAT Master stack, IgH. In order to validate feasibility of the real-time system, timing analysis between the master and the slaves is performed in terms of periodicity of the cyclic task, jitter, and in-control execution time as test metrics. Furthermore, we conducted a convolution based trajectory planning algorithm that considers the physical limits of the mobile robot to generate periodic velocity commands following a curved path. Encoder data from each wheels is evaluated to guarantee the accuracy of the motion control system in Cartesian space.",
keywords = "CANopen-over-EtherCAT, EtherCAT, Mobile robot, Real-time, Xenomai",
author = "Raimarius Delgado and Kim, \{Shin Young\} and You, \{Bum Jae\} and Choi, \{Byoung Wook\}",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 ; Conference date: 19-08-2016 Through 22-08-2016",
year = "2016",
month = oct,
day = "21",
doi = "10.1109/URAI.2016.7734098",
language = "English",
series = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "710--715",
booktitle = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",
}
