An EtherCAT-based real-time motion control system in mobile robot application

Raimarius Delgado; Shin Young Kim; Bum Jae You; Byoung Wook Choi

doi:10.1109/URAI.2016.7734098

An EtherCAT-based real-time motion control system in mobile robot application

Raimarius Delgado
, Shin Young Kim
, Bum Jae You
, Byoung Wook Choi

Dept. of Electrical and Information Engineering

Seoul National University of Science and Technology (SNUST)
Center of Human-centered Interaction for Coexistence

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

22 Scopus citations

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.

Original language	English
Title of host publication	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	710-715
Number of pages	6
ISBN (Electronic)	9781509008216
DOIs	https://doi.org/10.1109/URAI.2016.7734098
State	Published - 21 Oct 2016
Event	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China Duration: 19 Aug 2016 → 22 Aug 2016

Publication series

Name	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/Territory	China
City	Xian
Period	19/08/16 → 22/08/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

CANopen-over-EtherCAT
EtherCAT
Mobile robot
Real-time
Xenomai

Access to Document

10.1109/URAI.2016.7734098

Cite this

Delgado, R., Kim, S. Y., You, B. J., & Choi, B. W. (2016). An EtherCAT-based real-time motion control system in mobile robot application. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 (pp. 710-715). Article 7734098 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2016.7734098

Delgado, Raimarius ; Kim, Shin Young ; You, Bum Jae et al. / An EtherCAT-based real-time motion control system in mobile robot application. 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 710-715 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

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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.",

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Delgado, R, Kim, SY, You, BJ & Choi, BW 2016, An EtherCAT-based real-time motion control system in mobile robot application. in 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016., 7734098, 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Institute of Electrical and Electronics Engineers Inc., pp. 710-715, 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Xian, China, 19/08/16. https://doi.org/10.1109/URAI.2016.7734098

An EtherCAT-based real-time motion control system in mobile robot application. / Delgado, Raimarius; Kim, Shin Young; You, Bum Jae et al.
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 710-715 7734098 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Delgado, Raimarius

AU - Kim, Shin Young

AU - You, Bum Jae

AU - Choi, Byoung Wook

PY - 2016/10/21

Y1 - 2016/10/21

N2 - 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.

AB - 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.

KW - CANopen-over-EtherCAT

KW - EtherCAT

KW - Mobile robot

KW - Real-time

KW - Xenomai

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DO - 10.1109/URAI.2016.7734098

M3 - Conference contribution

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SP - 710

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BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

PB - Institute of Electrical and Electronics Engineers Inc.

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Delgado R, Kim SY, You BJ, Choi BW. An EtherCAT-based real-time motion control system in mobile robot application. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 710-715. 7734098. (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). doi: 10.1109/URAI.2016.7734098

An EtherCAT-based real-time motion control system in mobile robot application

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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