THE SERVO-CONTROL TECHNOLOGY OF MULTI-DOF ROBOT BASED ON CANBUS

Mengke Yang, Min Yan, Xuezhong Ai, Kang Wang

ABSTRACT:A study for servo-control technology of multi-DOF robot is proposed, the structure of control system and principle of servo driver circuits for DC motor with low inertia presented. The experiment results are reported, indicates that the position tracking performance of motor meets the dynamic specifications of control system using modified PID algorithm. The servo-control technology based on CAN bus offers high potential in multi-DOF robot control applications due to its advantages of low cost, simple structure and high reliability.

Keywords:Multi-DOF robot, Servo-control, DC motor with low inertia, Improved PID control, Position tracking, CAN bus.