ISSN 0253-2778

CN 34-1054/N

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Building software system of real-time controller communication by CANopen protocol based on ROS

  • 1.

    Department of Automation, University of Science and Technology of China, Hefei 230027, China

  • 2.

    Hefei Institutes of Physical Science of Chinese Academy of Sciences, Hefei 230059, China

Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2018.09.003
  • Received Date: 30 October 2017
  • Accepted Date: 10 April 2018
  • Rev Recd Date: 10 April 2018
  • Publish Date: 30 September 2018
    Abstract

  • Abstract

    The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication, aiming at these problems, the robot operating system (ROS) software framework was used to improve the efficiency of software development; the use of high performance industrial control protocol CANopen as the communication scheme of controller; and the help of modular manipulator hardware platform to further improve the speed of software development. Finally, the software system of controller communication by CANopen protocol based on ROS for modular manipulator was constructed. The experimental results show that the communication software system not only has the high developing efficiency and flexibility, but also meets the requirements for the real-time performance of the general robot.

    Abstract

    The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication, aiming at these problems, the robot operating system (ROS) software framework was used to improve the efficiency of software development; the use of high performance industrial control protocol CANopen as the communication scheme of controller; and the help of modular manipulator hardware platform to further improve the speed of software development. Finally, the software system of controller communication by CANopen protocol based on ROS for modular manipulator was constructed. The experimental results show that the communication software system not only has the high developing efficiency and flexibility, but also meets the requirements for the real-time performance of the general robot.
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    • References(12)
  • [1]
    QUIGLEY M, GERKEY B, CONLEY K, et al. ROS: An open-source Robot Operating System[C/OL]//ICRA Workshop - on Open Source Software, 2009. [2018-06-28]http://ai.stanford.edu/~ang/papers/icraoss09-ROS.pdf.
    [2]
    MARTINEZ A. ROS机器人程序设计[M]. 刘品杰，译. 第一版. 北京：机械工业出版社, 2014.
    [3]
    王俊波,胥布工. CANopen协议分析与实现[J]. 微计算机信息, 2008, 22(6): 104-106.
    [4]
    JEONG H, BAIK J, MIN S, et al. Improved drone reliability using a robot operating system[C]// Eighth International Conference on Ubiquitous and Future Networks, Vienna, Australia: IEEE Press, 2016: 151-153.
    [5]
    王亚, 王瑞, 关永, 等. RGMP-ROS 混合机器人操作系统节点间通信的形式化验证[J]. 小型微型计算机系统, 2015, 36(10): 2379-2383.
    [6]
    林茂, 贾凯, 王金涛, 等. CANopen协议在机器人控制器中的应用[J]. 微计算机信息, 2010, 26(8): 152-154.
    [7]
    ZHANG Y, ZENG X, WANG X, et al. Distributed control system design for quadruped robot based on CANopen network[C]// International Conference on Intelligent System Design and Engineering Application. Washington: IEEE Press, 2010: 633-636.
    [8]
    杨俊驹. 动态环境下基于ROS的移动机器人路径规划技术研究[D]. 苏州：苏州大学, 2016.
    [9]
    Application layer and communication profile[S]. CiA Draft Standard Proposal 301 V4.2.0, 2007.
    [10]
    MEMAR A H, ESFAHANI E T. Modeling and dynamic parameter identification of the SCHUNK PowerBall robotic arm[C]// Proceedings of the ASME 2015 International Design Engineering Technical & Computers and Information in Engineering Conference. IDETC/CIE Press, 2015, 53C.
    [11]
    CANopen device profile for drives and motion control[S]. CiA Draft Standard Proposal 402 V1.1, 1998.
    [12]
    HENDRICH N, BISTRY H, ZHANG J. PEIS, MIRA, and ROS: Three frameworks, one service robot—A tale of integration[C]// IEEE International Conference on Robotics and Biomimetics. Bali, Indonesia: IEEE Press, 2015: 1749-1756.)
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    [1]
    QUIGLEY M, GERKEY B, CONLEY K, et al. ROS: An open-source Robot Operating System[C/OL]//ICRA Workshop - on Open Source Software, 2009. [2018-06-28]http://ai.stanford.edu/~ang/papers/icraoss09-ROS.pdf.
    [2]
    MARTINEZ A. ROS机器人程序设计[M]. 刘品杰，译. 第一版. 北京：机械工业出版社, 2014.
    [3]
    王俊波,胥布工. CANopen协议分析与实现[J]. 微计算机信息, 2008, 22(6): 104-106.
    [4]
    JEONG H, BAIK J, MIN S, et al. Improved drone reliability using a robot operating system[C]// Eighth International Conference on Ubiquitous and Future Networks, Vienna, Australia: IEEE Press, 2016: 151-153.
    [5]
    王亚, 王瑞, 关永, 等. RGMP-ROS 混合机器人操作系统节点间通信的形式化验证[J]. 小型微型计算机系统, 2015, 36(10): 2379-2383.
    [6]
    林茂, 贾凯, 王金涛, 等. CANopen协议在机器人控制器中的应用[J]. 微计算机信息, 2010, 26(8): 152-154.
    [7]
    ZHANG Y, ZENG X, WANG X, et al. Distributed control system design for quadruped robot based on CANopen network[C]// International Conference on Intelligent System Design and Engineering Application. Washington: IEEE Press, 2010: 633-636.
    [8]
    杨俊驹. 动态环境下基于ROS的移动机器人路径规划技术研究[D]. 苏州：苏州大学, 2016.
    [9]
    Application layer and communication profile[S]. CiA Draft Standard Proposal 301 V4.2.0, 2007.
    [10]
    MEMAR A H, ESFAHANI E T. Modeling and dynamic parameter identification of the SCHUNK PowerBall robotic arm[C]// Proceedings of the ASME 2015 International Design Engineering Technical & Computers and Information in Engineering Conference. IDETC/CIE Press, 2015, 53C.
    [11]
    CANopen device profile for drives and motion control[S]. CiA Draft Standard Proposal 402 V1.1, 1998.
    [12]
    HENDRICH N, BISTRY H, ZHANG J. PEIS, MIRA, and ROS: Three frameworks, one service robot—A tale of integration[C]// IEEE International Conference on Robotics and Biomimetics. Bali, Indonesia: IEEE Press, 2015: 1749-1756.)
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