Building Software System of Real-time Controller Communication by CANopen Protocol Based on ROS

被引：0
|
作者：
Jia Pengfei [1 ]
Wang Rongchuan [2 ]
Xu Linsen [2 ]
机构：
[1] Univ Sci & Technol China, Hefei, Anhui, Peoples R China
[2] Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Anhui, Peoples R China
来源：
PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018) | 2018年
关键词：
ROS; CANopen protocol; controller communication; process node; real-time transmission;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication, aiming at these problems this paper proposes to use the robot operating system (Robot Operation System, ROS) software framework to improve the efficiency of software development; the use of high performance industrial control protocol CANopen as the communication scheme of controller; and the help of modular manipulator hardware platform to further improve the speed of software development. Finally, the software system of controller communication by CANopen protocol based on ROS for modular manipulator is constructed. The experimental results show that the communication software system not only has the high developing efficiency and flexibility, but also meets the requirements for the real-time performance of the general robot.
引用
收藏
页码：833 / 840
页数：8
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