基于CAN总线的机器人关节控制子程序的设计
【摘要】为了提升机器人的稳定性，可靠性，实时性以及可发展性本文设计了一套基于CAN总线的机器人关节控制子程序，该系统由上位pc机控制有一个主节点还许多从节点节点之间可以用CAN总线链接一边与实现机器人的各个控制系统模块化点出了控制系统的总体结构，并且集合了系统中的机械手那一个模块给出CAN总线的软件与硬件的设计该系统或许在外界已经应用了很久应该可以完成许多工作复杂 工作量大或者危险性高或者需要劳动力较多的工作希望人们可以从机器人生上获得的更多。
Design of robot joint control subroutine based on CAN bus
[Abstract] in order to improve the robot’s stability, reliability, real-time and expansibility is designed in this paper based on a set of CAN bus robot joint control subroutine, the PC control system consists of a master node has many nodes from between side and each robot control system module to point out the overall structure the control system with CAN bus link, and set the manipulator system in the design of a hardware and software module of the CAN bus in the system may have been used for a long time the outside world should be able to complete the many complex workload or dangerous or need more labor work hope people can get from the machine life the more.
目 录
2.3伺服控制系统结构(structure of servocontrol system)…… 6
2.4.3医疗与康复机器人……………………………. 11
第3章 CAN总线的简介…………………………………….. 13
第4章 机器人控制系统…………………………………….. 15
5.3通讯模块机器人的分布式控制系统……………………. 20
