In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

In This paper, we propose a real-time stage distributed control system. With the advancement of IT technology, tasks that people have worked on in the past have been automated. The domestic performance business is growing rapidly as it is equally applied to the performance stage mechanism. EtherCAT was adopted to enhance the synchronization performance of the stage control system and the redundant structure was constructed to ensure stability. In addition, the stability of the main controller is secured by implementing the interlock system.