CAN-Bus Based Distributed Control System for Hydraulic Turbine Blade Repairing Robot

被引：0
|
作者：
Xiang, Kangtai [1 ]
Sun, Zhenguo [1 ]
Dai, Hongjun [1 ]
Chen, Qiang [1 ]
Liu, Jiajun [1 ]
机构：
[1] Tsinghua Univ, Minist Educ, Key Lab Adv Mat Proc Technol, Beijing 100084, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT II | 2010年 / 6425卷
基金：
国家高技术研究发展计划(863计划); 中国国家自然科学基金;
关键词：
Distributed control system; mobile robot; virtual reality;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A CAN-bus (Controller Area Network) based distributed control system was designed for a mobile on-site hydraulic turbine blade repairing robot (HTBRR). The system is composed of one supervisory station, seven joint servo nodes, and four accessory nodes. Visual image sensing, virtual reality and graphic based path planning are implemented on the supervisory station, to improve tele-operation. Each joint servo node is composed of a DSP based control unit and a motor driving module. These nodes are coordinated to realize the motion control of the platform and the multi-DOF manipulator. The accessory nodes are used to control and monitor the apparatus such as welding power source, gouging power source and so on. With a specially designed state machine and the CANopen communication protocol, the designed control system enables HTBRR to carry out various operations, such as air gouging, deposit welding and grinding.
引用
收藏
页码：695 / 704
页数：10
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