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

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.