Chung-Wen Hung1, Yu-Hsuan Tseng1, Guan-Yu Jiang1, Chau-Chung Song2
1Department of Electrical Engineering, National Yunlin University of Science
& Technology, 123 University Road, Section 3, Douliou, Yunlin
64002, Taiwan
2Department of Aeronautical Engineering, National Formosa University, No.64,
Wenhua Rd., Huwei Township, Yunlin County 632, Taiwan pp. 183–186
ABSTRACT
The delta robot synchronous control based on the Ethernet Control Automation
Technology (EtherCAT) protocol for painting application is proposed in
this paper. Personal Computer (PC) is used as master and the delta robot
motor drivers are used as slaves in this work. The Master sends command
to slave base on the motion control profile CAN in Automation 402(CiA402).
Subsequently, the program in C# perform the user’s interface and EtherCAT
communication. And the system is not only for easy use, but also for quickly
high-precision. A complex painting application is proposed to show this
system workable.
Keywords: Delta robot, Kinematics, Path planning, EtherCAT
© 2022 The Author. Published by Sugisaka Masanori at ALife Robotics Corporation Ltd This is an open access article distributed
under the CC BY-NC 4.0 license ( h ttp://creativecommons.org/licenses/by-nc/4.0/).
ARTICLE INFO
Article History
Received 26 November 2021
Accepted 12 July 2022 -
STAGE9212
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