Development Of Control System Of Multi-axis Manipulator Based On CAN Bus

At present,the motion controllers on the market are classified according to different principles.According to the core technology of motion controller,there are mainly based on analog circuit type,based on micro-control unit type,based on programmable logic(FPGA / CLPD)type,based on digital signal processing(DSP)type;according to the motion controller system structure,Can be divided into bus-based motion controller and independent application of the motion controller and hybrid motion controller.At present,the processor is mainly based on single-chip,ARM,DSP and other three types of processors,the core system mainly uses embedded systems UCOS,Linux,interface system generally use Wince,Andrews and so on.This paper designs a robot controller,based on CAN bus distributed system design,the use of STM32F407 processor,coupled with UCOS kernel system.Which comprises a UCOS minimum system,a CAN / 485 bus transceiver isolation circuit,a multiple state signal isolation input circuit,a multiple control signal isolation output drive circuit,a power loss saving circuit,the input device signal,and a multiplexed state signal isolated input circuit And obtains the plurality of manipulator switch signals to input to the core processor,and the core processor performs the data calculation processing to output the control signal through the output interface circuit to the signal input end of each isolated output driving circuit,and the control output of the isolated output driving circuit amplifying the output The signal is then connected to the corresponding actuator of the robot.In order to improve the accuracy and speed of the multi-axis manipulator in the process of operation,and to improve its flexibility,this paper analyzes the domestic and foreign manipulator operation and the design of the control system of the manipulator,based on the actual investigation,mainly for multi-axis manipulator multi-point The problem of the S-curve velocity trajectory planning problem,the problem of high-precision location location problem,the design problem of the distributed system based on CAN bus and CANoepn protocol,the control system architecture problem based on UCOS embedded system,and the man-machine in multi-axis manipulator control system Interactive communication protocol design and other issues were carefully studied.