基于CAN总线的6自由度机械臂远程控制系统智能节点设计

Design of intelligent node of remote control system of a six-DOF manipulator based on CAN bus

采用了TI公司TMS320LF2407数字信号处理芯片和PHILIPS公司PCA82C250CAN协议接口芯片设计基于CAN总线技术的6自由度机械臂远程控制系统智能节点,硬件上使用了CPLD技术,提高了系统的集成化程度、可靠性和扩展性,增强了DSP访问外设的能力.软件上采用模块化的程序设计方法,提高了系统的实时性和软件效率.该智能节点已经顺利通过调试并成功用于蒸汽发生器一次侧检修机械臂实时远程控制系统中.

This paper is mainly devoted to a intelligent node of remote control system of a six-DOF manipulator based on CAN bus, in which TMS320LF2407 digital signal processor of TI Company and the PCA82C250 CAN Interface Chip of Philips Company are adopted. Moreover, the CPLD is used in the hardware, thus enhancing the integration degree and reliability and expansibility of the system, strengthening the ability that the DSP visits peripheral devices. In the software design, the modularized programming method is used, hence improving the real-time property of the system and running efficiency of the software. This intelligent node has been debugged successfully, and also has been applied in a real-time remote control system of the manipulator used for steam generator repairing.