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IEEE1394를 이용한 다관절 로봇의 분산 제어 네트워크 개발Control Network design for Multi Body Robot Based on IEEE1394
- Other Titles
- Control Network design for Multi Body Robot Based on IEEE1394
- Issue Date
- 2007
- Publisher
- 대한임베디드공학회
- Keywords
- IEEE1394; Control Network; multi body robot; IEEE1394; Control Network; multi body robot
- Citation
- 대한임베디드공학회논문지, v.2, no.4, pp.221 - 226
- Journal Title
- 대한임베디드공학회논문지
- Volume
- 2
- Number
- 4
- Start Page
- 221
- End Page
- 226
- ISSN
- 1975-5066
- Abstract
- This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.
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Related Researcher
- SUNG, YOUNG WHEE
- College of Engineering (School of Electronic Engineering)