Implementation of networked robot control system over controller area network

Nowadays robots have advanced from single-platform system to a networked multi-platform system. However, sequential and synchronous control methods that traditionally have been adapted to robots and automation systems are not functioning well for networked robots and control systems. In this paper a networked robot control system based upon controller area network (CAN), of which components are implemented with mostly aperiodic and event-triggered approaches to exchange messages and methods properly, are developed and tested to know its performance regarding proper timing and delay between CAN and robots, and critical section problem arising from process synchronization and coordination of robots.