Title :
Distributed Control System Design for Quadruped Robot Based on CANopen Network
Author :
Zhang, Yuxiao ; Zeng, Xianqun ; Wang, Xinjie ; Gao, Fei
Author_Institution :
Dept. of Electromech. Sci. & Eng., Zhengzhou Univ. of Light Ind., Zhengzhou, China
Abstract :
In this paper, a distributed motion control system is designed and achieved for the modular quadruped robot 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 belonging to speed and position for each joint and complete real-time multi-jointed linkage. Moreover, experimental results have proved the reliability and validity of this control system´s hardware and software.
Keywords :
closed loop systems; control engineering computing; control system synthesis; controller area networks; distributed control; legged locomotion; motion control; multivariable control systems; position control; protocols; reliability; velocity control; CANopen network; closed-loop control; communication network; distributed control system design; distributed motion control system; encoders; joint position; joint speed; modular quadruped robot; real-time multijointed linkage; reliability; Brushless motors; Distributed control; Joints; Legged locomotion; Robot kinematics; CANopen; closed loop control; distributed control; robot;
Conference_Titel :
Intelligent System Design and Engineering Application (ISDEA), 2010 International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-8333-4
DOI :
10.1109/ISDEA.2010.22
