液压四足机器人驱动器CAN总线通信

摘要

In order to satisfy the system of Hydraulic Robot control with the ability of flexibility anti-interference and real time, a Control Area Network system based on CAN-BUS is proposed based on CAN-BUS.The system makes use of two EC AN module in DSP28335, is in charge of reception and feedback of date respectively to achieve full duplex communication, and makes full use of interrupt mode of CAN module with supplement of software to realize the distinction of date and real time feedback of date, which is supplement for robot control.Finally, experiments prove it.%为满足液压四足机器人液压系统对控制的灵活性、数据通信的实时性和抗干扰能力的要求,提出一种基于CAN总线的局域控制网络系统.该系统利用DSP28335内部的两个ECAN模块,分别负责数据的接收和反馈,克服了单独CAN网络半双工通讯的缺点,利用ECAN中断机制配合软件编程实现数据的分类和数据的实时反馈,为机器人控制提供支持,最后通过实验验证了通信的可靠性.