Control System Design Based on CANopen Network for Multi-Legged Robot with Hand-Fused Foot
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.
Bo Zhao, Yidu Zhang, Guanglin Wang, Hai Zhang, Jianbin Zhang and Feng Jiao
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