基于CAN总线服务机器人控制系统设计

摘要

A Service control system based on CAN bus is introduced.The system takes universal PC as the supervisory-controlled computer,and the microcontroller as the controller's core to servo-control the joint of the robot.The two-level controllers uses CAN bus to communicate,and the characteristics of open system and real-time have been developed.%本文介绍了一个基于CAN总线的服务机器人控制系统。上位机采用通用PC机，机器人的关节用单片机进行伺服控制。上下位机通讯是通过CAN总线，系统的开放性和实时性能得到显著提高。