基于CANopen协议的全向移动机器人控制系统设计与实现

发布时间：2017-12-28 20:13

本文关键词：基于CANopen协议的全向移动机器人控制系统设计与实现　出处：《东南大学》2015年硕士论文　论文类型：学位论文

【摘要】：全向移动机器人具有运动灵活、执行效率高等优点,广泛应用于装配生产、仓储物流等行业。控制系统设计是全向移动机器人研发的关键技术之一,随着机器人性能要求提高,控制系统朝着更加智能化、开放化的方向发展。本文以麦克纳姆轮式全向移动机器人为研究对象,开发基于实时操作系统和CANopen协议的分布式控制系统,提高系统的实时性、可靠性和可扩展性。论文的主要工作和成果如下：1.针对该型全向移动搬运机器人,以ARM处理器STM32F103为核心设计专用主控单元,集成遥控控制、平台升降、障碍物检测、电量监测等功能；在原有设计基础上改进驱动单元,并基于CAN总线构建分布式控制体系。2.移植CANopen协议,围绕网络管理报文、服务数据对象、过程数据对象、特殊功能对象进行通讯机制分析和程序实现；结合控制系统功能要求,设计对象字典,建立完善的主从节点通讯协议；在主控单元、驱动单元硬件平台上分别进行主、从节点的软件设计,实现节点的初始化、状态切换、SDO配置、PDO传输及NMT管理等功能,实现完整的CANopen应用层协议。3.移植RTX实时操作系统,嵌入CANopen内核功能,基于模块化的思想,将复杂的功能封装成各个任务,利用操作系统的任务调度和管理功能,实现系统的稳定运行。4.在上述研究基础上,搭建通信实验平台验证系统性能,使用CAN分析仪监测和分析CANopen节点通信过程及报文内容,并在机器人上搭载本套控制系统进行实物测试。试验表明,主从节点间通信收发正常,主节点管理能力强健,机器人运行稳定可靠,控制系统实时性良好。
[Abstract]:Omnidirectional mobile robot has the advantages of flexible movement and high efficiency, which is widely used in assembly production, warehousing logistics and other industries. Control system design is one of the key technologies in the development of omnidirectional mobile robot. With the improvement of robot performance requirements, the control system is developing towards more intelligent and open direction. The move to Mecanum wheel omni-directional robot as the research object, the development of distributed real-time operating system and control system based on CANopen protocol and improve the real-time, reliability and scalability of system. The main work and achievements are as follows: 1. according to the type of omnidirectional mobile handling robot based on ARM processor STM32F103 as the core design for the main control unit, remote control, integrated platform lifting, obstacle detection, power monitoring and other functions; drive unit improvement based on original design, and construction of distributed control system based on CAN bus. 2. transplant CANopen protocol, network management, message service around the data object, process data object, special function object communication mechanism analysis and program implementation; combined with the functions of control system, the design of object dictionary, the establishment and perfection of the master-slave node communication protocol; the main control unit, drive unit hardware platform were the main, from the software design node, realize node initialization, state switching, SDO configuration, PDO transmission and NMT management functions, the realization of the CANopen application layer protocol integrity. 3., transplant RTX real-time operation system and embedded CANopen kernel function. Based on modularization idea, encapsulate complex functions into various tasks, and realize the stable operation of the system by using the task scheduling and management functions of the operation system. 4., on the basis of the above research, we set up a communication experimental platform to verify the performance of the system. We use CAN analyzer to monitor and analyze the CANopen node communication process and message content, and carry out the physical test on the robot with this control system. The test shows that the communication between master and slave nodes is normal, the management ability of the main node is strong, the robot is running stable and reliable, and the real-time performance of the control system is good.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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