工程科学学报.第42卷，第12期：1653-1663.2020年12月 Chinese Journal of Engineering,Vol.42,No.12:1653-1663,December 2020 https://doi.org/10.13374/j.issn2095-9389.2019.12.07.002;http://cje.ustb.edu.cn 基于EtherCAT总线的七自由度机械臂的隐蔽攻击技术 汪世鹏，解仑四，李连鹏，孟盛，王志良 北京科技大学计算机与通信工程学院.北京100083 ☒通信作者，E-mail:xielun@ustb.edu.cn 摘要针对七自由度机械臂控制系统提出了一种七自由度机械臂隐蔽攻击模型.首先基于推导的机械臂逆运动学方程，对 基于EtherCAT总线的七自由度机械臂进行运动规划与建模；其次，根据粒子群算法的研究与分析，提出了基于混沌理论的多 种群粒子群优化的七自由度机械臂系统PD参数辨识算法：最后搭建了七自由度机械臂的攻击实验平台并使用辨识的参数 结合隐蔽攻击原理开展了机械臂系统的攻击实验，并且将所提出的隐蔽攻击技术与其他传统攻击技术进行了比较.结果表 明，所提出的七自由度机械臂隐蔽攻击方法可以破坏机械臂系统的数据完整性和准确性，并且具有很好的隐蔽性，验证了所 建立的攻击模型的有效性和可行性。 关键词EtherCAT;运动学；隐蔽攻击：机械臂；粒子群 分类号TP309.3 Covert attack technology of EtherCAT based 7 degrees of freedom manipulator WANG Shi-peng,XIE Lun,LI Lian-peng.MENG Sheng,WANG Zhi-liang School of Computer and Communication Engineering,University of Science and Technology Beijing.Beijing 100083,China Corresponding author,E-mail:xielun@ustb.edu.cn ABSTRACT 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 particle swarm optimization method,a 7-DOF manipulator system PID parameter identification algorithm based on chaotic theory for multi-swarm particle swarm optimization was proposed.Parameter identification mainly identified the PID parameters of each joint.The principle and derivation process of the algorithm were described in detail.Finally,the experimental platform of manipulator control system was built and the identified parameters were used in combination with the covert attack principle to conduct the experiment.The proposed method was compared with other traditional attack methods,such as state machine attack and traditional sine attack.The results show that the covert attack model of the proposed 7-DOF manipulator can destroy the data integrity and accuracy of the manipulator system,and has a good concealment,which verifies the effectiveness and feasibility of the established attack model.The attack experiment platform constructed in this paper provides the physical basis for the attack and defense experiment of the manipulator,and it has certain reference 收稿日期：2019-12-07 基金项目：国家重点研发计划重点资助专项(2017YFB1302104):国家自然科学基金面上资助项目(61672093)：智能机器人与系统高精尖 创新中心开放基金资助项目(2018IRS01)基于 EtherCAT 总线的七自由度机械臂的隐蔽攻击技术 汪世鹏，解    仑苣，李连鹏，孟    盛，王志良 北京科技大学计算机与通信工程学院，北京 100083 苣通信作者，E-mail：xielun@ustb.edu.cn 摘    要    针对七自由度机械臂控制系统提出了一种七自由度机械臂隐蔽攻击模型. 首先基于推导的机械臂逆运动学方程，对 基于 EtherCAT 总线的七自由度机械臂进行运动规划与建模；其次，根据粒子群算法的研究与分析，提出了基于混沌理论的多 种群粒子群优化的七自由度机械臂系统 PID 参数辨识算法；最后搭建了七自由度机械臂的攻击实验平台并使用辨识的参数 结合隐蔽攻击原理开展了机械臂系统的攻击实验，并且将所提出的隐蔽攻击技术与其他传统攻击技术进行了比较. 结果表 明，所提出的七自由度机械臂隐蔽攻击方法可以破坏机械臂系统的数据完整性和准确性，并且具有很好的隐蔽性，验证了所 建立的攻击模型的有效性和可行性. 关键词    EtherCAT；运动学；隐蔽攻击；机械臂；粒子群 分类号    TP309.3 Covert attack technology of EtherCAT based 7 degrees of freedom manipulator WANG Shi-peng，XIE Lun苣 ，LI Lian-peng，MENG Sheng，WANG Zhi-liang School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China 苣 Corresponding author, E-mail: xielun@ustb.edu.cn ABSTRACT    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 particle swarm optimization  method,  a  7-DOF  manipulator  system  PID  parameter  identification  algorithm  based  on  chaotic  theory  for  multi-  swarm particle swarm optimization was proposed. Parameter identification mainly identified the PID parameters of each joint. The principle and derivation process of the algorithm were described in detail. Finally, the experimental platform of manipulator control system was built and the identified parameters were used in combination with the covert attack principle to conduct the experiment. The proposed method was compared with other traditional attack methods, such as state machine attack and traditional sine attack. The results show that the covert attack model of the proposed 7-DOF manipulator can destroy the data integrity and accuracy of the manipulator system, and has a good  concealment,  which  verifies  the  effectiveness  and  feasibility  of  the  established  attack  model.  The  attack  experiment  platform constructed in this paper provides the physical basis for the attack and defense experiment of the manipulator, and it has certain reference 收稿日期: 2019−12−07 基金项目: 国家重点研发计划重点资助专项（2017YFB1302104）；国家自然科学基金面上资助项目（61672093）；智能机器人与系统高精尖 创新中心开放基金资助项目（2018IRS01） 工程科学学报，第 42 卷，第 12 期：1653−1663，2020 年 12 月 Chinese Journal of Engineering, Vol. 42, No. 12: 1653−1663, December 2020 https://doi.org/10.13374/j.issn2095-9389.2019.12.07.002; http://cje.ustb.edu.cn