The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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The control of a Mobile Inverted Pendulum with EtherCAT

이더캣을 이용한 모바일 역진자 시스템의 제어

  • Received : 2011.11.23
  • Accepted : 2012.06.13
  • Published : 2012.08.31
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Abstract

The Industrial Ethernet technology enables advanced control architectures and offers several advantages for high precision multiple motors actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real time Ethernet. Considering the characteristics of the implemented software and the network interface, the motion and time-response of motor actuation for the networked Mobile Inverted Pendulum have been analyzed. Using the analysis with the task execution times measured from the developed drive, the performance characteristics of the drive in respect of the maximum achievable throughput have been verified by comparing to the conventional RS232.

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References

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