Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT

This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, advantages an framework here are it is easy integrate sensors recognizing human commands well-developed communication protocols data transfer between nodes. We propose a shared memory mechanism improve non-real-time nodes tasks in motion kernel, which implemented ARM development board with operating system. The jerk-limited trajectory generation approach kernel obtain fine interpolation MoveIt planned path motor. precise multi-axis synchronization performance used exchange I/O servo drive experimental results show proposed using hard environment feasible application. With architecture, user can efficiently send complete or read information from make decisions, helpful reach purpose collaboration future.