Distributed control system for robotic manipulators

摘要

This paper deals with the modern methods of stationary industrial robots control by the using of multi-processor system. Distributed control system is the system where the problem solving or control process is distributed between several nodes. These nodes have to able to execute the specific operation and process the analogue or digital signals. That control system conception requires very fast and reliable communication. On the base of these requirements the CAN (controller area network) was selected. The system is modular; it allows connection of another CPU board (e.g. radio communication module) for concrete task.