Design Of Communication Control System For Mobile Robot Based On CANopen

With the continuous development of modern information technology progress,industrial 4.0 and Internet of things advanced concepts such as the continuous application.Mobile robots play an increasingly important role in modern and future advanced technology,and the problem of mobile robot information exchange has been one of the focuses in these areas.This paper studies the communication control problem between multi-ARMs in single mobile robots.This paper takes the kernel STM32F103 of ARM Cortex-M3 as the core controller to design the network communication control system.wherein,a servo drive is used as the main card,which is located in the upper layer of the mobile robot,receives the instruction sent by the host computer,and the three slave cards are located at the bottom layer,which is used to drive three walking wheels of the mobile robot in order to achieve the coordinated control of the robot motion.On the basis of the overall architecture of the network communication control system,the design of the hardware circuit is carried out according to the actual requirement of the mobile robot to coordinate the communication control,and the master/slave controller is developed two times on the KEIL-5 platform,and finally the CANopen protocol is ported to the master/slave controller.In this paper,the communication control system of mobile robot is experimentally verified,including the experiment of single-axis master/slave communication and the design,realization and analysis of three-axis coordinated control experiment.The experimental results show that the proposed communication control system has good stability,and the transplant of CANopen protocol is successful,which achieves the control function required by the design.