KSJ robotics by ROS & EtherCAT & Motor driver

Simpify robot development!!

EtherCAT ROS robotics motion motor driver

Robot development vendors have used not only mechanical design but also electronic control technology such as motor control / communication control. Furthermore, there were many development hurdles such as how to move the robot and how to implement the application.

By incorporating robot mechanism information, we can provide robot solutions that utilize ROS (Robot Operating System) in addition to EtherCAT communication technology and DC motor control technology that we have our own know-how.

Robot development vendors will be able to concentrate on developing applications that build only robot operation methods on our development platform without being aware of the control details of ROS / EtherCAT / motor drivers.

KSJ Robotics key technologies

ROS & EtherCAT & DC Servo Driver
KSJ can provide the entire robot system!

What KSJ Robotics realize ?

By incorporating robot mechanic information into KSJ system,
The same operation as ROS simulation on PC can be realized by user-developed mechanic.

Since the ROS application runs on the main control board, high-speed orbit generation feedback can be realized. The orbital data generated by ROS is divided into control data for EtherCAT communication and reflected in the control data of each motor driver by EtherCAT periodic communication, and at the same time, the position information acquired by each motor driver is obtained by EtherCAT communication. It is collected on the main control board.

Xilinx Ultrascale+MPSoC Zynq Block Diagram

■Features　- UZ100 robotics system -

①ROS2 framework has implemented in UZ100.
a) After robot trajectory generation and simulation on PC, motion data can be colaborated to UZ100.
b) ROS2 processing CPU / EtherCAT communication CPU exists independently, and CPU core communication is also supported.
c) After expanding the orbital data from the PC on the UZ100, motion control can be realized by controlling the UZ100 board alone!

■Strong point　- Xilinx Ultrascale + MPSoC Zynq -

- The motion control result is feedback from CPU for EtherCAT to CPU for ROS2.
Orbit recalculation can be performed only by the internal CPU of Zynq SoC inside UZ100. (Real-time / low latency)
- Because the recalculated ROS2 motion trajectory is retransmitted to EtherCAT CPU and controlled by EtherCAT motor drivers.
It is possible to realize a high-speed orbit calculation feedback system.

ROS application support

When KSJ robotics development platform is utilized, ROS applications are need to optimized to customer robot's mechanical design. KSJ can support ROS application together with our partnership company. EtherCAT ROS robotics motion motor driver

Evaluation board UZ100

Size: 250 × 200 mm
Ultrascale+MPSoC Zynq equipped (3EG series)