Analysis of CAN-based 2-DOF SCARA robot performance under work control

Distributed control applications required a reliable network for information exchange. In this paper a networked control system of direct-drive 2-DOF SCARA Robot are developed based on Controller Area Network (CAN) where PD controller is adapted to form the closed loop system. The network system which consists of two sensor nodes, two actuator nodes and two controller nodes performs data exchange in CAN 2.0A data frames under various CAN speeds. The performance of the system under communication delay and data priority is analyzed. The simulation is performed by using Matiab/Simulink with TrueTime Toolbox. The result shows that the optimized system performance can be achieved under proper sampling time and CAN speed associated to the dynamic of the system.