Design of Distributed Control System for the Pick-up Robot Based on CAN Bus

被引：0
|
作者：
Chen, Rui [1 ,2 ]
Liu, Biao [3 ]
Pan, Man [4 ]
Zhou, Haibo [1 ,2 ]
机构：
[1] Tianjin Univ Technol, Sch Mech Engn, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300384, Peoples R China
[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Tianjin 300384, Peoples R China
[3] Guangzhou Gosuncn Robot Co Ltd, Guangzhou 510530, Guangdong, Peoples R China
[4] China Natl Packaging & Food Machinery Corp, Beijing 100083, Peoples R China
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
关键词：
Robot; CAN bus; Distributed control; Modular;
D O I：
10.1109/icma.2019.8816619
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to solve the problems that unobvious control architecture, chaotic layout, poor scalability and poor real-time communication of pickup robot in unstructured environment. This paper presents a modular distributed control system based on CAN bus. The hardware platform is built with the embedded system and CAN bus. The software design and the experimental test of control system for visual inspection module, manipulator drive module, robot path planning module and infrared obstacle avoidance module are realized. The above shortcomings are basically solved, the reliability and real-time performance of the pick-up robot is improved in performing the uncertainty task.
引用
收藏
页码：102 / 107
页数：6
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