基于CANopen的移动机器人通讯控制系统设计

发布时间：2018-08-28 09:15

【摘要】：随着现代信息化技术的不断发展进步,工业4.0和物联网技术等先进理念的不断推广应用,移动机器人在现代以及未来的先进技术领域发挥着越来越重要的角色,而移动机器人的信息交换问题一直是在这些领域所研究的重点之一。本文研究了单体移动机器人内部多ARM间的通信控制问题。本文以ARM Cortex-M3的内核STM32F103作为核心控制器,进行网络通讯控制系统设计。其中由一个伺服驱动器作为主卡,位于移动机器人的上层,接收上位机发送的指令;三个从卡则位于底层,用于驱动移动机器人三个行走轮的运动,以此达到对机器人运动的协调控制。在提出网络通讯控制系统整体架构的基础上,依据移动机器人协调通讯控制的实际要求,开展了硬件电路的选型设计,并在KEIL-5平台上对主/从控制器进行二次开发,最后将CANopen协议移植到主/从控制器之中。本文针对移动机器人的通讯控制系统进行了实验验证,包括单轴主/从通讯进行实验,以及三轴协调控制实验的设计、实现与分析。实验结果表明,本文所设计、提出的通讯控制系统具有较好的稳定性,CANopen协议的移植获得成功,达到了设计所要求的控制功能。
[Abstract]:With the continuous development and progress of modern information technology and the promotion and application of advanced concepts such as industry 4.0 and Internet of things technology, mobile robots are playing an increasingly important role in the field of modern and future advanced technology. The information exchange problem of mobile robot is always one of the key points in these fields. In this paper, the communication control problem between multiple ARM in a single mobile robot is studied. In this paper, the kernel of ARM Cortex-M3 STM32F103 is used as the core controller to design the network communication control system. One servo driver is used as the main card, which is located in the upper layer of the mobile robot and receives instructions from the upper computer, while the three slave cards are located at the bottom to drive the movement of the three walking wheels of the mobile robot. In order to achieve the coordinated control of robot motion. Based on the overall architecture of network communication control system, according to the actual requirements of mobile robot coordination communication control, the hardware circuit selection design is carried out, and the secondary development of master / slave controller is carried out on KEIL-5 platform. 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, implementation and analysis of three axis coordinated control experiment. The experimental results show that the communication control system designed in this paper has good stability and the transplant of CANopen protocol has been successful and has achieved the required control function.
【学位授予单位】：宁夏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TP242

【相似文献】