基于CANopen的Delta机器人控制研究

Delta Robot Control System Design Based on CANopen

针对传统的机器人控制系统通讯实时性差、扩展性能差等缺点,以CAN作为低层通信总线、以CANopen作为高层通信协议,设计了一种基于CANopen的Delta机器人控制系统.CAN总线通信速率高并且可容纳的节点数目多,使得控制系统中各个模块之间的数据传输和指令共享的性能大大提高.在自主设计的上位机软件中,可完成对Delta机器人的上电、点动、急停、回零等基本控制,利用改进型梯形轨迹规划结合CANopen协议下的同步插补模式实现Delta机器人运动过程的平稳与协调.

To remedy the defects of poor real timeliness of communication and low expansion ability of control systems of traditional robots,a Delta robot control system is designed based on CANopen with Can as the low-level communication bus and CANopen the high-level communication protocol.Data transmission and command sharing among various modules in the control systems become much easier thanks to high communication rate of CAN bus and the number of nodes.In upper computer software designed by this study,the basic control of the Delta robots,such as power on,inching,emergency stop and return to zero,can be completed.The improved trapezoidal trajectory planning combined with synchronous interpolation mode under CANopen protocol is used to complete the smooth and coordinated motion process of the delta robot.