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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Zichnski, C., Mianowski, K., Narzarczuk, K., et al.: A Prototype Robot for Polishing and Milling Large Objects. Industrial Robot: An International Journal 130(1), 67–76 (2003)
Huang, H., Gong, Z.M., Chen, X.Q., et al.: Smart Robotic System for 3D Profile Turbine Vane Airfoil Repair. The International Journal of Advanced Manufacturing Technology 21, 275–283 (2003)
Nonaka, Y., Sakaue, S., Yanagihira, Y., et al.: Development of an Impeller Grinding Robot System and a Gyro-Moment Compensated Compliance Control. In: IEEE International Conference on Robotics and Automation, Nagoya, vol. 2, pp. 2084–2089 (May 1995)
Fihey, J.L., Hazel, B., Laroche, Y.: The Scompi Technology. In: International Forum on in Situ Robotic Repair of Hydraulic Turbines, Harbin, China (2000)
SCOMPI Portable Multi-Process Fabrication Robot Datasheet, http://www.solutions2accelerate.com/
Chen, Q., Gui, Z.: A Robot for Welding Repair of Hydraulic Turbine Blade. In: IEEE International Conference on Robotics, Automation and Mechatronics, pp. 155–159. IEEE Press, Chengdu (2008)
Gui, Z., Chen, Q., Du, D., et al.: A Non-Contact Wheeled Wall-Climbing Robot with Magnetic Adhesion Devices, Chinese Patent: CN 1739925C (March 2006)
CiA. CiA DS-301 V4.0.2 – CANopen Application Layer and Communication Profile, http://www.can-cia.org
TMS320 DSP/BIOS User’s Guide, http://focus.ti.com/
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Xiang, K., Sun, Z., Dai, H., Chen, Q., Liu, J. (2010). CAN-Bus Based Distributed Control System for Hydraulic Turbine Blade Repairing Robot. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_63
Download citation
DOI: https://doi.org/10.1007/978-3-642-16587-0_63
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16586-3
Online ISBN: 978-3-642-16587-0
eBook Packages: Computer ScienceComputer Science (R0)