摘要
以一款自主研发的排爆机器人为例,介绍了CAN总线在机器人控制系统中的应用,分析了现场总线应用于机器人控制领域的问题和解决方案。结合CAN总线的特性,合理优化机器人的控制策略和控制软件结构。现场试验表明,CAN总线可以有效地提高机器人的可靠性和实时性。
With the development and popularization of intelligent mobile robot,it's widely applied in the field of national defense and civilian areas.Taking a self-developed explosive-handling robot as an example,this article makes an introduce of the application of CAN bus in the robot control system,and analysis involved problems and solution when CAN bus is applied in robot control field.In consideration of the characteristic of CAN bus,optimize the control strategy and software structure of the robot.The experiment result indicates that CAN bus can effectively improve the real-time and reliability of the robot.
出处
《机电一体化》
2014年第A04期12-15,48,共5页
Mechatronics
基金
国际热核聚变实验堆(ITER)计划专项(国内研究)(2012GB102001)
国家自然科学基金资助项目(51175324
51275286)
