基于CANopen协议的轮式机器人控制系统实现  

Implement of motion control system for wheeled robot based on CANopen protocol

作　　者：周旭[1] 严玉龙[1] 王珊珊[1] 李军[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《微型机与应用》2013年第23期20-23,共4页Microcomputer & Its Applications

摘　　要：针对当前以DSP为机器人控制器中的串口数量有限、通信抗干扰能力差等问题,提出了基于CANopen协议的轮式机器人运动控制系统,并给出其在DSP上的应用实现。首先介绍了机器人运动控制方法,然后介绍了CANopen协议在DSP上的具体实现,最后在实际机器人系统中进行测试。实验结果表明,基于CANopen协议的轮式机器人控制系统可以满足机器人控制的实时性和稳定性。In order to solve the problems about limited number of serial ports, poor capacity of resisting disturbance, asynchronous control and the like in robot controller using DSP, a new motion control system for wheeled robot based on CANopen protocol and its implement in DSP is introduced in this paper. After an introduction of the method of robot control , the implement of CANopen protocol in DSP is discussed in detail. At last, it is tested in robot system. The real-time and stability of the designed system are verified with experiments.

关 键 词：轮式机器人 运动控制系统 DSP CANOPEN 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]