基于CAN的工业机器人内部通信总线设计

介绍了一种基于CAN总线的分布式工业机器人控制器的研究开发情况,实现了总线与各模块的接口设计,并制定出相应的机器人控制器内部通信协议。这种机器人控制器布线简单,系统可灵活扩展,有效提高了工业机器人的性能。

This paper introduces a kind of industrial robot based on CAN and implements the interface between the communication bus and the system’s modules. It also brings forward communication protocol. The industrial robot controller takes full advantage of the characteristic of the CAN field bus. So the various modules can be configured neatly, and expanded easily. The technique promotes the state of the art industrial robot’s performance.

中国科学院知识创新重大基金工程资助项目(KGCX-SW-15)