摘要
设计了一种基于CANopen协议的救援机器人调试系统,设计中充分考虑了机器人运动关节的反馈数据优化控制参数,从而提高了运动关节控制性能。重点介绍了CANopen从站的软、硬件设计以及主站网络管理(NMT)、服务数据对象(SDO)的实现,并用实例证明该系统完全能满足救援机器人调试的需要。
A kind of rescue robot based on CANopen protocol is designed,with full consideration on the data optimized control paramter,to improve the control performance of joint movement. Highlighted the design of software and hardware on CANopen slave station and the implements of master network management（NMT）, service data objects（SDO）. Finally use examples show that the system can meet the needs of rescue robot debugging.
出处
《电子技术应用》
北大核心
2011年第7期54-56,共3页
Application of Electronic Technique
