A complete set of robot control systems based on CAN is designed to improve the reliability, realtime capability and expansibility of the existing teleportation reconnaissance robot in author's laboratory. The system consists of one master node and multiple slave nodes, these nodes are connected by CAN. By this way, the goal to modularize all parts of the robot can be achieved. The control architecture of robot is given, and the CAN communication circuit and software of manipulator control module are also illustrated. The control system has been successfully applied in the existing reconnaissance robot. The robot is able to complete the tasks that site environment reconnaissance and emergency management, which is fully demonstrated in practical engineering applications%为了提高实验室现有遥操作侦察机器人的可靠性、实时性和可扩展性,设计了一套基于CAN总线的机器人控制系统.该系统由一个主节点和多个从节点构成,节点之间采用CAN总线相连,以实现侦察机器人各部分功能的模块化.给出了控制系统的总体结构,并结合系统中机械手控制模块阐述了CAN总线通信的硬件和软件设计.该控制系统已经成功应用在实验室现有的侦察机器人中,能够完成现场环境侦察和应急处理任务,在实际工程应用中得到了良好的应用.
展开▼
