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[102690] Artykuł: JITTER ANALYSIS OF ETHERCAT MASTER OPEN LIBRARIES IN INDUSTRIAL ROBOT CONTROL SYSTEMCzasopismo: 26th International Conference ENGINEERING MECHANICS 2020Opublikowano: Listopad 2020 Autorzy / Redaktorzy / Twórcy Grupa MNiSW: Recenzowany referat w materiałach konferencyjnych w języku angielskim Punkty MNiSW: 0 Pełny tekst Keywords: EtherCAT  Xenomai  SOEM  IgH Master  Jitter analysis  Industrial robot  |
This paper presents the comparison of efficiency of control systems based on industrial PC using
different open source EtherCAT libraries to communicate with motion control units. The aim of this study is to
measure the jitter level in hard realtime application based on Xenomai realtime operating system and
application running in user space. Main goal of this research is to find the best solution for positioning six axis
manipulator utilized in sorting and packing processes.