Control System Design Based on CANopen Network for a Transformable Multimodal Robot

This paper presents a control system designed and achieved for a transformable multimodal robot based on CANopen network. The control system architecture was designed according to the robot motion modal requirements and the CANopen protocol, and the robot hardware was built according to the architecture. The control flow of the control system based on CANopen protocol was analyzed. The differential steering algorithm was designed and the CAN-bus communication was analyzed. The user interface of host computer and the control software of slave computer were written by LabWindows/CVI. Moreover, experimental results have proved the reliability and validity of this control system.