摘要
针对当前外骨骼机器人控制系统结构复杂、稳定性低、价格高昂等问题,搭建基于CANopen通信协议的外骨骼机器人控制系统试验平台。围绕外骨骼机器人控制系统硬件和软件两方面进行设计。依托外骨骼机器人控制系统试验平台,采用PCAN-View软件与外骨骼机器人控制系统建立通信,并以力矩过程数据对象(PDO)配置为例,实现实时扭矩传感数据的稳定采集。试验数据验证了基于CANopen通信协议的外骨骼机器人控制系统的正确性及可行性,表明基于CANopen通信协议的外骨骼机器人控制系统将成为外骨骼机器人发展方向。
In view of the complex structure,low stability,and high price of the current exoskeleton robot control system,an experimental platform for the exoskeleton robot control system based on the CANopen communication protocol is built.The hardware and software of the exoskeleton robot control system are designed.Relying on the experimental platform of exoskeleton robot control system,using PCAN-View software to establish communication with the exoskeleton robot control system,taking the torque process data object(PDO)configuration as an example,real-time torque sensing data is stably collected.The experimental data verifies the correctness and feasibility of the exoskeleton robot control system based on the CANopen communication protocol.It indicates that the exoskeleton robot control system based on the CANopen communication protocol will become the development direction of exoskeleton robots.
作者
陈丹惠
顾潇宇
周雄
赵江海
李子建
CHEN Danhui;GU Xiaoyu;ZHOU Xiong;ZHAO Jianghai;LI Zijian(Changzhou Institute of Advanced Manufacturing Technology,Changzhou 213164,China;Hefei Institute of Physical Science,Chinese Academy of Sciences,Hefei 230031,China;Faculty of Agriculture and Food,Kunming University of Science and Technology,Kunming 650500,China)
出处
《自动化仪表》
CAS
2021年第11期86-89,98,共5页
Process Automation Instrumentation
基金
江苏省重点研发计划——产业前瞻与共性关键技术重点基金资助项目(BE2017007-1)。
