Design and Implementation of a 6-DOF Robot Control System Based on CAN Fieldbus

摘要

This paper presents the design (hardware and software) and implementation of a control system for a 6-DOF robot. The motivation of the work is to explain the use of the architecture on available real-time distributed control systems. Based on the analysis of functions and configuration, we design a systemic modularized control structure with CAN field bus which is used to connect distributed hardware and software modules. The superiority of CAN field bus and how it has been implemented to construct control system coupled with electromechanical devices are described. Then the analysis gives the mechanical structural characteristics and corresponding control principle of the robot. Finally, an evaluation of the performance of the robotic control system is provided. The experiment with the prototype proves that both the accuracy and efficiency can be achieved simultaneously by the control system based on use of CAN field bus. It is believed that attributes observed in this control system can be used for automatic production, space exploration, treatment operation, etc.