DsPIC Based Control System with CAN BUS for Robot Manipulators

Abstract

本篇論文的研究主要是利用微控制器搭配DE2-70 嵌入式開發板為開發平台，實作出一套模組化的機器手臂控制系統。在論文中所使用的硬體發展平台是使用 Altera 公司的DE2-70 開發板搭配Microchip 所生產的DsPIC33FJ128MC710 為機器手臂的系統控制器。 在實作方面，整體硬體系統架構可以細分為主機端、NIOS II、DsPIC 微控制器三部分；主機端提供一個GUI 介面方便使用者進行逆向運動學座標輸入，並透過主機端UART 介面將座標傳送至DE2-70 開發板的NIOS II 系統中進行逆向運動學的運算，NIOS II 系統將逆向運動學各角度計算完畢後再將命令傳送至各軸的微控制器進行馬達的位置控制。 本文在DE2-70 開發板與DsPIC 微控制器之間的訊號傳輸的通訊介面是使用 CAN BUS 訊號傳輸匯流排技術，進行倆模組化系統之間的訊號傳輸，由於CAN BUS 技術傳輸訊號穩定、快速，相當適合用於大多數機器人的研究與開發。[[abstract]]This thesis exploits microcontrollers with the DE2-70 embedded development board for development platform to make a modularity robotic manipulator control system. The hardware development platform which is mentioned in the dissertation is DE2-70 development board from ALTERA Company with DsPIC33FJ128MC710 produced by microchip system controller for the robot manipulator. In the implementation, the overall hardware system structure can be separated into three parts, GUI, NIOS II core process, and DsPIC microcontroller. The host provides a GUI for users to input inverse kinematics coordinates, and through the host UART interface, we can send the coordinates to the NIOS II system of DE2-70 development board to compute inverse kinematics. After calculating the axis angles of inverse kinematics, NIOS II system will send the instruction to the microcontroller to control the position of the motor. In this thesis, the technology of CAN BUS signal transmission bus is used to transmit the signal between DE2-70 embedded development board and DsPIC microcontroller. Because of the CAN BUS technology with stability and fast quality, it is very suitable for the most research and development of robot