基于CAN总线的排爆机器人的控制系统

Control System of EOD Robot Based on CAN

介绍了基于CAN总线的排爆机器人的运动控制系统的实现,并详细描述了各控制模块与CAN控制器之间的如何实现通讯。排爆机器人(EOD robot)是一种由操作者远程遥控完成复杂作业任务的特种机器人。操作机主体一般是由一个多自由度的机械手和一个可移动平台组成,为实现其复杂的运动控制就需要各个执行部件的协调工作。为此采用多个模块控制各个执行部件,各模块间通过CAN总线通讯,以实现控制系统的分布智能化。

The paper introduces a EOD robot motion control system based on CAN, and communication between each modules and CAN in detail. EOD robot is a kind of device through remote control to do some complicated work. The control platform usually consists of a manipulator with multi-degree of freedom and a mobile pl atform. In order to achieve the complicated motion controlling, it needs executi ve parts work coordinately. Wherefore, we use multiple modules to control the ex ecutive parts separately, and communicate via Controller Area Network, so as to achieve distributed intellectualization of the control system.