Research and designed of a structured scalable robot control system based on real-time bus

Aimed at the problems of poor transferring capabilities and maintainability in heterogeneous robot platforms, a structured scalable robot control system based on real-time bus, such as RS485bus is proposed, which can be adapted to a number of heterogeneous robot platform. The hardware and software design is elaborated and using this, a Guide Robot is developed to prove the interchangeability, adaptation and extensibility of the system.