Control system design for multi-legged robot with hand-fused foot

Aiming at robot charactertics of complex control for so many joints,a distributed motion control system based on CANopen network was designed and realized.Dedicated motion controller and digital incremental encoder were used to realize closed loop control to each joint.CANopen network was used to build a communication model among all joints,which strengthened recongfiguability and fault tolerance of the control system and supported real time multi-jointed linkage.Software architecture based on CMO/COM was used to achieve software control for each joint motor.Layer idea was used to design CANopen communication program for the whole system.Experimental results prove that hardware and software of this motion control system can work steadily and reliably.