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论文类型：会议论文

发表时间：2011-01-01

收录刊物：Scopus

卷号：133 LNEE

期号：VOL. 2

页面范围：383-391

摘要：In order to control the motion of multi-axis motor in robotic arm, high precision clock synchronization technology based on PTP of IEEE1588 and NURBS interpolation algorithm are realized in distributed network motion control system we designed which is composed with industrial computer, embedded controller, ac servo driver and motor, industrial Ethernet and robotic arm. Clock synchronization technology whose principle is to exchange messages consecutively to determine the offset between controllers is used for controlling synchronization between multi-axis motors. NURBS interpolation algorithm is used for controlling motion track of each single motor. Finally, experiment on precision of clock synchronization and interpolation algorithm is conducted, experiment result shows that the error of clock synchronization is no more than 1us and the error of interpolation is no more than 3um. ? 2011 Springer-Verlag.