A CAN bus based control system for a joint modular robot

Qingkai Han; Li Wang; Yunpeng Ren; Tianxia Zhang; Bangchun Wen

doi:10.1117/12.784514

9 January 2008 A CAN bus based control system for a joint modular robot

Qingkai Han, Li Wang, Yunpeng Ren, Tianxia Zhang, Bangchun Wen

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942O (2008) https://doi.org/10.1117/12.784514
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper is mainly about a new robot control system, which has open structures, and whose architecture is based on CAN bus for a joint modular robot. The hardware system of the joint control module is designed for signal sampling and processing, data storage and communication. ATmega64 SCM is selected as the core processor. A CAN card is used for communication. FM256 RAM is used for data storage and condensation. The monitoring software and lower level control processing software are developed with ZLGVCI interface functions of CAN bus, and in the ICC AVR IDE and AVR Studio online debug tool with C language. Some experiments are carried out to validate the basic functions of the control system.

Citation Download Citation

Qingkai Han, Li Wang, Yunpeng Ren, Tianxia Zhang, and Bangchun Wen "A CAN bus based control system for a joint modular robot", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942O (9 January 2008); https://doi.org/10.1117/12.784514

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