Control System Design Based on CANopen Network for Multi-Legged Robot with Hand-Fused Foot

Abstract:

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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.

Info:

Periodical:

Edited by:

Bo Zhao, Yidu Zhang, Guanglin Wang, Hai Zhang, Jianbin Zhang and Feng Jiao

Pages:

307-312

DOI:

10.4028/www.scientific.net/AMM.42.307

Citation:

Y. X. Zhang et al., "Control System Design Based on CANopen Network for Multi-Legged Robot with Hand-Fused Foot", Applied Mechanics and Materials, Vol. 42, pp. 307-312, 2011

Online since:

November 2010

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Price:

$35.00

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