基于CANopen和RTLinux的机器人模块化控制系统设计

Modularized Control System Design for Robots Based on CANopen and RTLinux

针对结构复杂,关节数量多,实时性要求高的机器人系统。提出了一种建立在 CANopen 和 RTLinux 基础上的分布式模块化机器人控制系统结构,从硬件和软件两个方面详细介绍了系统的设计方案。在基于 CAN 总线的控制系统硬件结构基础上,采用基于CANopen 的应用层协议,提高了系统的开放性和可扩展性;同时在实时操作系统 RTLinux 下实现 CANopen 协议栈,开发机器人控制软件,保证了系统的实时性。

This article presents a modularized robot control system based on CANopen and RTLinux, aimed at multi-joints robot, which requires high real-time performance. The system design is introduced from the viewpoint of hardware and software. The architecture of CAN-based hardware and CANopen-based protocol of application layer are designed, which improve the interchangeability and exten- sibility of the system. The CANopen protocol stack and control software are developed on RTLinux, which guarantee the real-time performance of the system.