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Summer Research Fellowship Programme of India's Science Academies

Development of motor control architecture for variable impedance actuator using CANopen communication protocol

Kishan A C K

Student, Bachelors in Electrical and Electronics Engineering (4th year), Ramaiah Institute of Technology, Bangalore

Dr. Soumen Sen

Senior Principal Scientist, Robotics and Automation Division, CSIR - Central Mechanical Engineering Research Institute, Durgapur

Dr Srinivasan Aruchamy

Senior Scientist, Robotics and Automation Division, CSIR - Central Mechanical Engineering Research Institute, Durgapur

Abstract

The aim of the current work is to develop the hardware and software architecture for a VIA using CAN and CANopen protocol to accomplish the intended control.. The VIA, being developed at CSIR-CMERI, consists of two antagonistically arranged electric motors (Brush Less DC), various sensors (encoders and force sensors) and several limit switches. Motion of each motor is controlled by a local motor controller and driver with encoder feedback. A network is required to interconnect all the motor controllers, sensors and other peripherals (digital I/ Os, limit switches) in order to have synchronised operation and effective utilization. CAN Bus and CANopen Protocol are chosen to establish the communication for the embedded application of the actuator development. Linux is chosen as the operating system for the whole development and the software architecture is being developed under a Python platform.

Keywords: CAN Bus, CANopen Protocol, Motion control, encoder reading, force sensor reading, data acquisition

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