Design of Distributed Control System for the Pick-up Robot Based on CAN Bus

摘要

In order to solve the problems that unobvious control architecture, chaotic layout, poor scalability and poor real-time communication of pickup robot in unstructured environment. This paper presents a modular distributed control system based on CAN bus. The hardware platform is built with the embedded system and CAN bus. The software design and the experimental test of control system for visual inspection module, manipulator drive module, robot path planning module and infrared obstacle avoidance module are realized. The above shortcomings are basically solved, the reliability and real-time performance of the pick-up robot is improved in performing the uncertainty task.