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International journal of fuzzy logic and intelligent systems : IJFIS v.9 no.2, 2009년, pp.94 - 98  
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Development of Realtime EtherCAT Master Library Using INtime

Moon, Yong-Seon    (School of Information Communication, Sunchon National University   ); Trong, Tuan Anh Vo    (School of Information Communication, Sunchon National University   ); Ko, Nak-Yong    (Dept. Control, Instrumentation, and Robot Engineering, Chosun University   ); Seo, Dong-Jin    (Robotics Institute, Redone Technologies, Ltd.   ); Lim, Seung-Woo    (Dept. of Information and Communication, DongKang College  );
  • 초록

    This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.


  • 주제어

    EtherCAT .   INtime .   Real-time.  

  • 참고문헌 (10)

    1. Wei Hongxing, Li Shiyi, Zou Ying, Yang Liang, Wang Tianmiao, "A Middleware Based Control Architecture for Modular Robot Systems," 2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, 12-15, pp. 327-332, 2008 
    2. Michael Barabanov, "A Linux-based Real-Time Operating System," Thesis paper for Degree of Master of Science in Computer Science, New Mexico Institute of Mining and Technology, New Mexico, 1997 
    3. www.tenAsys.com 
    4. M. Omar Faruque Sarker, ChangHwan Kim, Seungheon Baek and Bum-Jae You, "An IEEE-1394 Based Real-time Robot Control System for Efficient Controlling of Humanoids," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1416-1421, 2006 
    5. Alessandro Farinelli, Giorgio Grisetti, and Luca Iocchi, "Design and implementation of modular software for programming mobile robots," International Journal of Advanced Robotic Systems, vol. 3, no. 1, pp. 37-42, 2006 
    6. D. Jansen, H. Buttner, "Real-time ethernet the EtherCAT solution," Computing and Control Engineering Journal, vol. 15, no. 1, pp. 16-21. 2004 
    7. www.ethercat.org 
    8. Sang Chul Ahn, Jin Hak Kim, Kiwoong Lim, Heedong Ko, Yong-Moo Kwon, Hyoung-Gon Kim, "UPnP Approach for Robot Middleware," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 18-22, pp.1959-1963, 2005 
    9. Pablo Gil, Ivan Maza, Anibal Ollero, and Pedro Jose Marron, "Data centric middleware for the integration of wireless sensor networks and mobile robots," Proc. of 7th Conference on Mobile Robots and Competitions, , 2007 
    10. Hyun Kim, Young-Jo Cho, Sang-Rok Oh, "CAMUS: a middleware supporting context-aware services for networkbased robots," Proceedings 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, 12-15, pp. 237-242, 2005 

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