【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。更多还原

【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.更多还原