원문정보
초록
영어
Intelligent robots commonly adopt Network-Based Control Systems (NBCS). For control of a robot hand or a robot head, many sensor data and control commands need to be transmitted in real time, so they have necessitated communication systems with high transmission capability. Traditionally, CAN is widely used for intelligent robots, but it presents bandwidths that are too low for the control of a high performance system. In this paper, the relation between the transmission period and the performance of a multi-motor control system is analyzed, and a multi-motor control system for a human robot hand is implemented based on the FlexRay communication system, which is an emerging in-vehicle communication network system. FlexRay parameter optimization for a robot system is studied, and a real position control test is conducted, to validate the implemented system.
목차
1. Introduction
2. Analysis of a Multi-motor NBCS for a Robot Hand
2.1. Structure of a Robot Hand Control System
2.2. Determination of the Transmission Period of an NBCS according to the Control Method
2.3. Network Parameter Optimization and Comparison of CAN and FlexRay NBCS
3. Implementation and Experiments
3.1. Traditional CAN System
3.2. The Developed Robot Hand Controller based on FlexRay System
4. Conclusion
Acknowledgments
References