Control System Design Based on CANopen Network for Multi-Legged Robot with Hand-Fused Foot

Abstract

In this paper, a distributed motion control system is designed and achieved for the modular multi-legged robot with hand-fused foot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control for each joint. The system has completed real-time multi-jointed linkage. Moreover, experimental results have proved the reliability and validity of this control system.

Optimal command ordering for serial link manipulators

“…In our simulation, we compare the following 5 methods of sending commands to the joint-local velocity controllers A Sequential with same control This approach is common in the literature, and consists of calculating the control signal once in each control loop, and sending each joint controller its individual velocity command in sequence [5], [11], [15].…”