RH6-B机器人的通信协议

RH6-B机器人控制器是基于CAN总线的控制器,具有CAN总线的接口。实现了多机器人监控系统,并开发了相应的协议和通信系统。该文主要介绍了它的系统结构、总线协议和相应的软件,并对性能进行了分析。

RH6-B ROBOT controller is based on controller area network (CAN),and it has a CAN interface. This paper realizes a monitor systemof multi-robot,and also devises its communication system and protocol.The article presents the system’s architecture,protocol and its software.At lastit analyses its performance.