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Proceedings Paper

A CAN bus based control system for a joint modular robot
Author(s): Qingkai Han; Li Wang; Yunpeng Ren; Tianxia Zhang; Bangchun Wen
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Paper Abstract

This paper is mainly about a new robot control system, which has open structures, and whose architecture is based on CAN bus for a joint modular robot. The hardware system of the joint control module is designed for signal sampling and processing, data storage and communication. ATmega64 SCM is selected as the core processor. A CAN card is used for communication. FM256 RAM is used for data storage and condensation. The monitoring software and lower level control processing software are developed with ZLGVCI interface functions of CAN bus, and in the ICC AVR IDE and AVR Studio online debug tool with C language. Some experiments are carried out to validate the basic functions of the control system.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942O (9 January 2008); doi: 10.1117/12.784514
Show Author Affiliations
Qingkai Han, Northeastern Univ. (China)
Li Wang, Northeastern Univ. (China)
Yunpeng Ren, NHI Shenyang Heavy Machinery Group Co. Ltd. (China)
Tianxia Zhang, Northeastern Univ. (China)
Bangchun Wen, Northeastern Univ. (China)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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