1P1-E11 CANopenを用いた分散制御ロボット用RT-Middlewareの開発(RTミドルウェアとオープンシステム)

抄録

The RT-middleware is usually operated only on PC. This restricts development of small RT devices. This research aims at the operation of RT-middleware on a low-performance MPU and the support of CAN communication interface. This makes it possible to construct the distributed robotic system using CAN network very simple and flexible. For this, we adopted CANopen by CiA (CAN in Automation) to develop practical robotic system,. In this paper, we describe development of RT-Middleware-System for Distributed-Control-System-Robot.