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Communication Protocol for Robotic Arm

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aredhel_vlsi

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Hello, I have a question regarding the communication protocol and physical layer of how to connect the motors of a robotic arm.

I have 4 servomotors, Brushless. I need to select a motor drive for each one. The motors are: M1 shoulder- M2 elbow- M3 wrist- M4 thumb
in a daisy chain. I've seen that for similar configurations, people either choose RS485, or Ethernet or Ethercat or CanOpen, or even RS232.

How can I decide about this? Could someone summarize the drawbacks and advantages for these above?
I don't have very high requirements for the speed of the motors, I will use them for simple and slow rotations, 30W each. Of course I would prefer the simplest option with minimum number of wires and I would try to avoid to much heating. I really need robust cables because the arm is moving.

Also considering that I will also embed a camera, is it better to consider Ethernet?

I am asking the above, because I see that sometimes people support RS485 over Ethernet, but I also see solutions for Ethernet and even RS232 in some cases.

Thank you so much in advance ! If you need more details, I will comment back, but this is a rough idea I have right now.
 

What is the data rate output of your camera?
 

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