Control System Design Based on CANopen Network for Multi-legged Robot with Hand-fused Foot

摘要：

In this paper, a distributed motion control system is designed and achieved for the modular multi-legged robot with hand-fused foot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control for each joint. The system has completed real-time multi-jointed linkage. Moreover, experimental results have proved the reliability and validity of this control system.

作者: Yuxiao Zhang Xianqun Zeng Xinjie Wang

作者单位: Department of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan, 450002, P.R.China

会议类型: 国际会议

会议名称: 第八届中日机械技术史及机械设计国际会议

会议地点: 河南焦作

会议语种:英文

页码: 1-6

在线出版日期: 2010-10-31（万方平台首次上网日期，不代表论文的发表时间）