Design And Implementation Of Distributed Control System For Multi-hand Pick-up Robot Based On CAN Bus

Traditional pick-up robots usually use centralized control systems.Such centralized control systems have poor real-time performance and stability,which hinder the development and change of robot technology to a certain extent.Therefore,this paper designs a distributed control system of pick-up robot based on CAN bus.The orthogonal fuzzy PID control method of the manipulator joint is innovatively proposed to improve the control accuracy of the pick-up robot.A CAN bus communication method based on improved dynamic priority algorithm was innovatively proposed to solve the problem of control system information delay.The main research contents are as follows:First,this article has carried out kinematics research on pick-up robots,which include the two-wheel differential kinematics model and the five-degree-of-freedom kinematics model of the manipulator.At the same time,a distributed control system based on CAN bus was designed according to the special working method and overall function structure of the pick-up robot.Secondly,the hardware design of the overall control system was carried out,and the hardware circuit design of each functional module was discussed in detail,which include CAN bus communication module,stepper motor common anode drive module and other sensor modules.In addition,the software design of its overall control system according to the functional requirements of the pick-up robot.It is mainly divided into 4 parts that including chassis drive system software design,manipulator drive system software,host computer software design,and communication system software design.The chassis drive system mainly includes stepper motor drive,infrared obstacle avoidance and wireless remote control.The manipulator drive system mainly includes electric servo drive and speed regulation,the magnetoelectric encoder collects error signals,and an orthogonal fuzzy PID control algorithm is added to the open-loop drive of the electric servo in order to improve the accuracy.The host computer mainly includes MFC interface design,serial communication,and PTZ control based on PELCO-D protocol.The communication system mainly includes CAN bus communication and USART communication.Then,an application-layer protocol for the pick-up robot CAN bus was designedaccording to the actual functions of the pick-up robot communication system,and the optimization method of real-time communication system is proposed.Improved Dynamic Priority Algorithm with Earliest Deadline First(Earliest Deadline First,EDF)Algorithm.The priority of the quantized logarithmic partition is introduced into the dynamic priority algorithm as the second priority,which is used to solve the problem of priority locking in the dynamic priority algorithm and improve the real-time performance of the communication system.Based on the Stateflow finite state machine,the working process of the CAN bus is dynamically simulated,and the trend of the performance parameters of each network during the CAN bus communication process is analyzed.Finally,the experimental platform of the pick-up robot is built.It is verified that the orthogonal fuzzy PID control algorithm can improve the accuracy and stability of the manipulator joint drive control system through the experiment of manipulator motion control.The rationality of CAN bus communication mechanism is verified through CAN bus communication experiment.The multi-hand pick-up experiment verified the integrity of the multi-hand pick-up robot.