Real-time research based on ARM-based robot EtherCAT master system

In order to solve the real-time problem in the motion control system of industrial robot based on arm, this paper adopts EtherCAT real-time industrial Ethernet, analyzes the key points to improve the real-time performance, establishes the system framework to meet the openness of the motion controller system of industrial robot, designs the Pruss real-time core and real-time drive module, and builds the test platform, Finally, the jitter of communication cycle is less than 1US, which fully meets the real-time requirements of industrial robot motion control system.