Design Of Software Of Motion Controller For Manipulator Based On CANopen

The motion controller is one of the core components of the robot system,which is responsible for tasks such as motion control,condition monitoring and communication.This dissertation discusses a motion controller solution that uses CAN as the low-layer bus,CANopen as the high-level communication protocol,PC&distributed servo drives as the hardware platform.The controller software architecture and some modules are described.Firstly,the hardware architecture of the manipulator system is introduced briefly,and the parts related to the motion controller are introduced,including the industrial personal computer,the CAN-USB adapter,the servo drive and the structure of the manipulator.Secondly,the kinematics of the manipulator is studied.With the homogeneous transformation matrix,the position and posture of a rigid body is described.The linkage coordinate system and the linkage parameters are described by the improved DH method.Then several equations are listed,including forward kinematics transformation,differential forward kinematics transformation using Jacobian matrix,and the inverse kinematics solution.Thirdly,a universal CANopen master that controls the servo drives is implemented.The CAN message is analyzed.The related contents of CiA 301 sub-protocol(CANopen application layer and communication profile)and CiA DSP-402 sub-protocol(Device profile for drives and motion control)are introduced and realized.The real-time performance of the CANopen master is analyzed and experimented,showing a good result.Finally,the design and implementation of some modules in the motion controller software is described.On the basis of the universal CANopen master,the function of controlling the manipulator is added.The theoretical basis and realization method of position interpolation module and state updating module are discussed.And the two module are tested.Practice has proved that the motion controller software is feasible.