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

Yu Xiao Zhang; Xian Qun Zeng; Xin Jie Wang

doi:10.4028/www.scientific.net/AMM.42.307

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 42Control System Design Based on CANopen Network for...

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

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volume 42)

Pages:

307-312

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.42.307

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Online since:

November 2010

Authors:

Yu Xiao Zhang, Xian Qun Zeng, Xin Jie Wang

Keywords:

CANopen, Closed-Loop Control, Control System, Robot

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