Journal: Robotics

Article Title: An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

doi: 10.3390/robotics13030054

Figure Lengend Snippet: Figure 9 depicts the complete EtherCAT network needed to exchange data between the EtherCAT master and the field devices (drivers and digital inputs and outputs). The Simulink Real-Time target and the EtherCAT network have been set up to operate at a sampling frequency fs equal to 4 kHz. The resulting sampling time Ts = 0.25 ms determines the deadline that the control systems must meet for all their computations, which, in the

Article Snippet: Figure 9 schematizes the main components of the developed Simulink program, which features the following: • The state machine, which implements the main operating logic; • The safety logic subsystem protecting the experimental setup from user or programming errors; • The EtherCAT communication Master, natively included in Simulink Real-Time, which deals with communication from and to the field devices; • The implementation of the previously described controllers.

Techniques: Sampling, Control

Journal: Robotics

Article Title: An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

doi: 10.3390/robotics13030054

Figure Lengend Snippet: Figure 9. Control system architecture, including the main software functions and the EtherCAT fieldbus.

Article Snippet: Figure 9 schematizes the main components of the developed Simulink program, which features the following: • The state machine, which implements the main operating logic; • The safety logic subsystem protecting the experimental setup from user or programming errors; • The EtherCAT communication Master, natively included in Simulink Real-Time, which deals with communication from and to the field devices; • The implementation of the previously described controllers.

Techniques: Control, Software