| CANopen协议在机器人控制器中的应用 |
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| 引用本文： | 林茂,贾凯,王金涛,杜振军.CANopen协议在机器人控制器中的应用[J].微计算机信息,2010(8). |
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| 作者姓名： | 林茂 贾凯 王金涛 杜振军 |
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| 作者单位： | 中国科学院研究生院;中国科学院沈阳自动化研究所; |
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| 摘 要： | 针对当前机器人控制器中通讯方式不统一,复用性差的现状,本文提出了基于CANopen协议的机器人控制器实时通讯方案。首先介绍了控制器局域网络(CAN)的高层协议CANopen,并结合机器人控制器与多个电机驱动器通讯的实际需求,实现了基于CANopen通讯协议的机器人控制器,并在实际机器人系统中进行测试。实验结果表明基于CANopen通讯协议的机器人控制器可以满足机器人控制系统的实时性和灵活性要求。
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| 关 键 词： | 控制器局域网络 CANopen 现场总线 机器人控制器 实时通讯 |
Application of CANopen Protocal in Robot Controller |
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| LIN Mao JIA Kai WANG Jin-tao DU Zhen-jun.Application of CANopen Protocal in Robot Controller[J].Control & Automation,2010(8). |
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| Authors: | LIN Mao JIA Kai WANG Jin-tao DU Zhen-jun |
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| Affiliation: | LIN Mao JIA Kai WANG Jin-tao DU Zhen-jun(Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang,110016,China) |
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| Abstract: | A CANopen protocol based communication method is presented in this paper to overcome the problem of communication disunity and no-reusing in robot controller.After a brief introduction of the high-level field bus protocol CANopen, a CANopen protocol based robot controller is implemented to meet the needs of communication demands from the robot controller and motor drivers.The experiment result shows that CANopen can fulfill the real-time and reusing requirement of the robot control system. |
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| Keywords: | CAN CANOpen Field bus Robot Controller Real-time communication |
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