Servo drives implementation for robot's motor control

This project explores the enhancement of motor controllers in the mobile robots developed by the CDEI, simplifying the control system by reducing the number of elements and, consequently, the weight, while improving the robots’ overall efficiency. To achieve this, the study evaluates the implementat...

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Detalles Bibliográficos
Autor: Navarro Soler, Yeray
Tipo de recurso: tesis de maestría
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/426157
Acceso en línea:https://hdl.handle.net/2117/426157
Access Level:acceso abierto
Palabra clave:Robots--Programming
Robots--Motion
Robots--Programació
Robots--Moviment
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Servo drives implementation for robot's motor controlNavarro Soler, YerayRobots--ProgrammingRobots--MotionRobots--ProgramacióRobots--MovimentÀrees temàtiques de la UPC::Informàtica::RobòticaThis project explores the enhancement of motor controllers in the mobile robots developed by the CDEI, simplifying the control system by reducing the number of elements and, consequently, the weight, while improving the robots’ overall efficiency. To achieve this, the study evaluates the implementation and use of Ingenia EtherCAT servo drives, specifically the EVSNET-E and EVE-XCR-E models. There are two primary objectives for the project: first, to validate the proper functioning of a printed circuit board (PCB) that integrates the EVS-NET-E drive, ensuring it enables real-time control of a brushless motor; and second, to develop a control program for installing this device in the robots. Additionally, the project establishes a methodology for integrating these drives into robots, including configuration guidelines and programming examples. To validate the PCB, the MotionLab3 software was employed, allowing the configuration of the attached drive. During this process, the various functionalities of the drive and its associated circuits were analyzed, making the necessary modifications. For the design of the control program, the fucntions of the Python Ingeniamotion library were used. The development of the code followed an iterative approach to ensure proper functionality at all stages. The control program was written in Python and subsequently implemented in ROS. Validation of the code was carried out through tests with the actual motor and simulations of the robot’s movement. The analysis of the PCB revealed that while some components, such as communication and feedback circuits, were successfully verified, achieving a fully functional board requires a more detailed analysis to identify and address the causes of motor control issues. The design of the control program resulted in the creation of a final modular and versatile control program that allows for easy modifications and is compatible with any of the Ingenia controllers. Additionally, example codes were created to demonstrate the various functionalities of the drives. Therefore, despite some challenges encountered during the PCB analysis, the project demonstrated the feasibility of integrating Ingenia EtherCAT drives into the robots, obtaining the benefits that this involves, such as improved performance and reduced overall programming complexity.Universitat Politècnica de CatalunyaCaballero Flores, David20252025-01-2720252025-03-11master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/426157reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4261572026-05-27T15:37:01Z
dc.title.none.fl_str_mv Servo drives implementation for robot's motor control
title Servo drives implementation for robot's motor control
spellingShingle Servo drives implementation for robot's motor control
Navarro Soler, Yeray
Robots--Programming
Robots--Motion
Robots--Programació
Robots--Moviment
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Servo drives implementation for robot's motor control
title_full Servo drives implementation for robot's motor control
title_fullStr Servo drives implementation for robot's motor control
title_full_unstemmed Servo drives implementation for robot's motor control
title_sort Servo drives implementation for robot's motor control
dc.creator.none.fl_str_mv Navarro Soler, Yeray
author Navarro Soler, Yeray
author_facet Navarro Soler, Yeray
author_role author
dc.contributor.none.fl_str_mv Caballero Flores, David
dc.subject.none.fl_str_mv Robots--Programming
Robots--Motion
Robots--Programació
Robots--Moviment
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots--Programming
Robots--Motion
Robots--Programació
Robots--Moviment
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This project explores the enhancement of motor controllers in the mobile robots developed by the CDEI, simplifying the control system by reducing the number of elements and, consequently, the weight, while improving the robots’ overall efficiency. To achieve this, the study evaluates the implementation and use of Ingenia EtherCAT servo drives, specifically the EVSNET-E and EVE-XCR-E models. There are two primary objectives for the project: first, to validate the proper functioning of a printed circuit board (PCB) that integrates the EVS-NET-E drive, ensuring it enables real-time control of a brushless motor; and second, to develop a control program for installing this device in the robots. Additionally, the project establishes a methodology for integrating these drives into robots, including configuration guidelines and programming examples. To validate the PCB, the MotionLab3 software was employed, allowing the configuration of the attached drive. During this process, the various functionalities of the drive and its associated circuits were analyzed, making the necessary modifications. For the design of the control program, the fucntions of the Python Ingeniamotion library were used. The development of the code followed an iterative approach to ensure proper functionality at all stages. The control program was written in Python and subsequently implemented in ROS. Validation of the code was carried out through tests with the actual motor and simulations of the robot’s movement. The analysis of the PCB revealed that while some components, such as communication and feedback circuits, were successfully verified, achieving a fully functional board requires a more detailed analysis to identify and address the causes of motor control issues. The design of the control program resulted in the creation of a final modular and versatile control program that allows for easy modifications and is compatible with any of the Ingenia controllers. Additionally, example codes were created to demonstrate the various functionalities of the drives. Therefore, despite some challenges encountered during the PCB analysis, the project demonstrated the feasibility of integrating Ingenia EtherCAT drives into the robots, obtaining the benefits that this involves, such as improved performance and reduced overall programming complexity.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-01-27
2025
2025-03-11
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/426157
url https://hdl.handle.net/2117/426157
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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