1P1-E02 移動ロボット用分散制御アーキテクチャとCANを用いた実装(RTミドルウェアとオープンシステム)

概要

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Recently, a distributed control system is applied to some robots. We developed a distributed control system using CAN for leg-wheeled type mobile robot IMR-Typel. However, the problem remained when the change and enhancing the system are discussed. In this paper, we describe our proposal of the system architecture with a high extendibility for a mobile robot. The proposed system architecture defines the module which has a similar function as module category. The systematized message is transmitted to the module category. We mounted the system architecture by using CAN, and developed the experimental mobile robot. It is verified by the result of examinations that system architecture that we proposed had a high extendibility.
一般社団法人日本機械学会の論文
2008-06-06