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

Volume

1

fYear

2010

fDate

13-14 Oct. 2010

Firstpage

633

Lastpage

636

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent System Design and Engineering Application (ISDEA), 2010 International Conference on

Conference_Location

Changsha

Print_ISBN

978-1-4244-8333-4

Type

conf

DOI

10.1109/ISDEA.2010.22

Filename

5743259