Distributed control system for modular self-reconfigurable robots

Author

Shen, Jinxiang ; Liu, Jiangping ; Zhang, Hui ; Zhou, Lingyun ; Tang, Jianbing

Author_Institution

Dept. of Mechtronic & Autom., Nat. Univ. of Defense Technol., Changsha, China

Volume

2

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

932

Abstract

Modular, self-reconfigurable robots(MRR) show the promise of great versatility, simplicity, robustness and low cost. However, control system is one of the most important components of the robotic systems. It will depend on the control system to realize those promises. In this paper, we present a master/slave distributed control system for this type of robot. Because of excellent performance and high integration, the DSP controller-TMS320LF2406 is selected to compose the smallest system for the module DC motor control, with the individual controllers communicating with other modules and the master using a controller area network(CAN).

Keywords

controller area networks; digital signal processing chips; distributed control; machine control; robots; self-adjusting systems; CAN; DC motor control; DSP controller; TMS320LF2406; controller area network; distributed control system; master-slave robot control system; modular self-reconfigurable robots; robotic systems; robustness; Automatic control; Control systems; Distributed control; Manipulators; Mars; Robot control; Robot kinematics; Robotics and automation; Robustness; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285712

Filename

1285712