基于CAN总线的7自由度机械臂通信网络研究

Research on the Communication Network of 7-DOF Manipulator Based on CAN Bus

针对工业机械臂的通信要求,提出了一种模块化的基于CAN总线7自由度机械臂通信方法,包含通信硬件接口、应用层协议和软件流程,以TMS320F28335DSP作为机械臂主控制器和关节控制器,建立CAN通信网络,节点间传输正弦函数数据,对比了原始数据与节点接收到的数据,结果表明,模块化的基于CAN总线的7自由度机械臂通信网络方案切实可行。

For the communication requirements of the industrial manipulator, a modular communication method of 7-DOF manipulator based on CAN bus is proposed in this paper. It includes communicating hardware interfaces, application layer protocol and software flow. TMS320F28335DSP is used as the main controller and joint controller of the manipulator. Communication network based on CAN is established;then, the sine function data are transmitted between the nodes, and the data received by the nodes and the original data are compared. The results show that the a modular communication network scheme of 7-DOF manipulator based on CAN bus is feasible.