【摘要】 介绍了一种适用于多轴运动控制的通信系统———CAN总线 ,它的通信速率高 ,实时性好 ,非常适合机器人各关节轴的协调运动控制 ,便于构成分布式的运动控制结构。给出了一个将CAN总线应用于两足步行机器人控制系统的实例 ,并分析了它的优点。更多还原

【Abstract】 In the paper,a kind of field bus--CAN which can undertake real time and has high transmission speed is introduced It is fit for the harmonious motion control of multiple axles We can use CAN to realize the distributed control system of biped walking robot The paper deals with the design of that control system and its advantages更多还原