论文部分内容阅读
介绍了一种适用于多轴运动控制的通信系统———CAN总线 ,它的通信速率高 ,实时性好 ,非常适合机器人各关节轴的协调运动控制 ,便于构成分布式的运动控制结构。给出了一个将CAN总线应用于两足步行机器人控制系统的实例 ,并分析了它的优点。
A CAN communication system suitable for multi-axis motion control is introduced, which has high communication speed and good real-time performance. It is very suitable for the coordinated motion control of the joint axes of robots and facilitates the formation of a distributed motion control structure. An example of applying CAN bus to two-legged walking robot control system is given and its advantages are analyzed.