Covert attack technology of EtherCAT based 7 degrees of freedom manipulator

• Published in: 工程科学学报 Vol. 42; no. 12; pp. 1653 - 1663
• Main Authors: Shi-peng WANG, Lun XIE, Lian-peng LI, Sheng MENG, Zhi-liang WANG
• Format: Journal Article
• Language: Chinese
• Published: Science Press 01.12.2020
• Subjects: covert attack; ethercat; kinematics; manipulator; particle swarm optimization
• ISSN: 2095-9389
• DOI: 10.13374/j.issn2095-9389.2019.12.07.002

While the industrial robotic manipulator is a kind of multi-input and multi-output human-like operation and highly autonomous control system. It is widely used in medical care, home service, industrial manufacturing and other fields. With the integration of cyber-physical system networks and the Internet in recent years, the control commands of the industrial robotic arm control system can be totally exposed to the Internet. Under these circumstances, the chances of successful attacks by attackers to systems are increasing year by year. Compared to the security of traditional cyber physical system, the security of manipulator control system is a very challenging problem. In this paper, a covert attack method of 7 degrees of freedom (7-DOF) manipulator control system was proposed. Firstly, based on the inverse kinematics equation of the manipulator, the motion planning and modeling of 7-DOF manipulator, which communicated by EtherCAT, was carried out. Secondly, according to the research and analysis of particl