基于CAN总线的六轮危险作业机器人控制系统设计  

Control System Design of Hazardous Operation Robot with Six Wheel Based on CAN

作　　者：王浩[1] 马振书[1] 穆希辉[1] 

机构地区：[1]军械工程学院军械技术研究所,河北石家庄050003

出　　处：《机床与液压》2007年第7期98-100,共3页Machine Tool & Hydraulics

基　　金：国家863项目(编号:2001AA422420)

摘　　要：为满足机器人控制系统各模块对信息交换的实时性、灵活性、可扩展性、可靠性的要求,在危险作业机器人设计过程中选用了CAN总线作为系统信息传输的通道,在此基础上设计了机器人的控制系统,将其分为6大模块,介绍了系统的组成、原理及软件设计。2项典型实验证明这是一种可靠的控制方案,它保证了系统的安全性和可靠性,能够满足处理危险弹药任务的要求。In order to meet the real-time, dexterity, expansibility and security demand of the data exchange among modules of robot＇ s control system, CAN was used as the data transferring channels in control system. Based on CAN the control system of hazardous operation robot was designed, including six modules. The system structure, principle and software design were introduced. Two typical experiments show that it is a reliable control scheme, it guarantees the system security and stability and can satisfy the needs of deal dangerous ammunition.

关 键 词：CAN总线 控制系统 危险作业机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]