以CAN BUS 及 DsPIC 為平台之機器手臂控制系統

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Title:	以CAN BUS 及 DsPIC 為平台之機器手臂控制系統 DsPIC Based Control System with CAN BUS for Robot Manipulators
Authors:	陳彥宏 Chen, Yen-Hong
Contributors:	國立中正大學
Keywords:	CAN BUS DsPIC NIOS II
Date:	2011-07
Issue Date:	2020-09-08 13:45:04 (UTC+8)
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.
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