Conytrol System Design And Implementation Of OMNI-Directional Mobile Robots Based On Canopen

Omni-directional mobile robots, with high flexibility and execution efficiency, are widely used in fields such as assembling and logistics. Control system design, as one of the key technologoes in the research and development, is moving towards a more intelligent and open-architectured development direction. With Mecanum wheeled omni-directional mobile robots as research object, the distributed control system based on RTX operating system and CANopen protocol is designed, to improve the performance of real-time and reliability. The main research and contributions of the dissertation are summarized as follows:1. Dedicated main control unit for the specified omni-directional handling robot is implemented based on STM32F103 chip, including functions such as remote control, obstacle detection, platform lifting and low power monitoring. Drive units are improved on the basis of the original design. Finally, a distributed control system is built based on CAN bus.2. CANopen protocol is migrated to the units, with the process analysis and program implementation of the communication of network management, service data object, process data object and special function object. Object dictionary is designed referring to the requirements of the control system. The software function design of the master node and the slave node are separately based on the main control unit and the drive unit. Through the function realization of node initialization, SDO configuration, PDO transmission and NMT management, the full CANopen application layer protocol is implemented.3. By transplanting RTX operating system and embedding CANopen kernel, the control system encapsulates each task with relatively independent function. The control system runs stably with the task scheduling and management functions of the operation system.4. On the basis of the research above, a communication testing platform is built to verify the system performance and the correctness of the design, with a CAN analyzer monitoring and analysing the communication process, and a field test is done on a robot which carries the control system. As is shown by the testing results, the communication between the master-slave nodes runs well, the master node is with strong management ability and the robot is verified with high performance of stability, reliability and real-time.