Design Of Control System Communication Platform Based On Modular Robot

Robotics is a new complex subject and is given increasing attention. Thereinto modular robot shows its advantage and makes a mighty advance because of its dependability and its flexibility. The control system has been an important topic of robotics.A control system communication platform of modular robot that is open to some extent and is compatible with the joint is designed on the basis of the achievements of modular robots, especially the development of a modular robot joint in my laboratory. It uses standard PC as centre computer and standard bus to transmit data. The design of software and hardware is made in this paper. It includes these parts as follows:Firstly, with comparing to the different system of modular robot, this paper makes the control system communication platform that not only has centre computer but also local controller. Then, this paper analyzes the makeup and gives the detailed design.Secondly, the hardware design of the communication platform is introduced. The processor PCI9054 is used to design the PCI interface. The circuit connecting with PCI bus, Local bus and EEPROM are introduced in detail; DSP from TI company is used to design the CAN interface. The circuit connecting with PCA82C250 and external RAM is introduced in detail; Double-port RAM is used to realize the transmission between PCI bus and CAN bus.Thirdly the software design of the communication platform is introduced. DriverWorks from Numega is used to design the drive program. Its compilation and debug are completed; CCS is used to design the CAN program. Its debug and its installation are completed; The makeup of centre computer software and the operation guide of library function are introduce.Finally, some experiments are done to test the electric, logic and...