Chapter

Intelligent Robotics and Applications

Volume 6425 of the series Lecture Notes in Computer Science pp 695-704

CAN-Bus Based Distributed Control System for Hydraulic Turbine Blade Repairing Robot

  • Kangtai XiangAffiliated withKey Laboratory for Advanced Materials Processing Technology, Ministry of Education; Dept. of Mechanical Engineering, Tsinghua University
  • , Zhenguo SunAffiliated withKey Laboratory for Advanced Materials Processing Technology, Ministry of Education; Dept. of Mechanical Engineering, Tsinghua University
  • , Hongjun DaiAffiliated withKey Laboratory for Advanced Materials Processing Technology, Ministry of Education; Dept. of Mechanical Engineering, Tsinghua University
  • , Qiang ChenAffiliated withKey Laboratory for Advanced Materials Processing Technology, Ministry of Education; Dept. of Mechanical Engineering, Tsinghua University
  • , Jiajun LiuAffiliated withKey Laboratory for Advanced Materials Processing Technology, Ministry of Education; Dept. of Mechanical Engineering, Tsinghua University

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Abstract

A CAN-bus (Controller Area Network) based distributed control system was designed for a mobile on-site hydraulic turbine blade repairing robot (HTBRR). The system is composed of one supervisory station, seven joint servo nodes, and four accessory nodes. Visual image sensing, virtual reality and graphic based path planning are implemented on the supervisory station, to improve tele-operation. Each joint servo node is composed of a DSP based control unit and a motor driving module. These nodes are coordinated to realize the motion control of the platform and the multi-DOF manipulator. The accessory nodes are used to control and monitor the apparatus such as welding power source, gouging power source and so on. With a specially designed state machine and the CANopen communication protocol, the designed control system enables HTBRR to carry out various operations, such as air gouging, deposit welding and grinding.

Keywords

Distributed control system mobile robot virtual reality