KSJ Robotics demo

This movie shows the 5-axis joint robot arm with KSJ key technologies of ROS, EtherCAT, motor driver and image processing.

UZ100 works as a main controller, and ROS (Robot Operating System) application inside UZ100 calculates the moving amount for each joint. The moving amount for each joint is replaced to the moving amount of each motor.

And EtherCAT master stack notify the calculation result to the motor driver with very fast cyclic timing (100 μsec). The servo motor driver controls the motor based on EtherCAT communication data.

Here, UZ100 determines the moving amount for each joint from the current position to the target position by ROS calculation, in order to reach the target position quickly and smoothly. Furthermore, we have realized a robotics development platform that does not require any teaching procedures by capturing the image data and using the image data for the target position.

XY linear stage with EtherCAT motor driver and Image processing

In this linear XY stage demo unit, a CMOS camera is installed at the top of the stage.
On UZ100 board, FPGA-based real-time image processing is performed within less than 20 msec.
When the image processing of filtering and pattern-matching works, there is no variation in the processing time due to FPGA processing. FPGA solution enables the realtime systems.

Linear XY stage is controlled by 2 types of KSJ EtherCAT motor drivers which can control both of rotary motor and linear motors. And KSJ EtherCAT master stack also works on UZ100, together with image processing.

In terms of designing the vision system, one of most important thing is that "co-operation" with other systems like EtherCAT, ROS and etc.
Zynq Ultrascale + MPSoC is very suitable for the high-speed co-operation with several systems.
KSJ can offer the development platform such as image processing, EtherCAT, motion control and etc. !!