대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

CAN 기반 휴머노이드 로봇의 실시간 데이터 통신 구현

Implementation of Real-Time Communication in CAN for a Humanoid Robot

  • 권선구 (인하대학교 전기공학과) ;
  • 김병윤 (인하대학교 전기공학과) ;
  • 김진환 (인하공업전문대학 전기정보과학과) ;
  • 허욱열 (인하대학교 전자전기공학부)
  • 발행 : 2006.01.01
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초록

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay In order to eliminate this jitter, stuff bits must be controlled to minimize the response time and to reduce the variation of data transmission time. This paper proposes the method to reduce the stuff bits by restriction of available identifier and bit mask using exclusive OR operation. This da manipulation method are pretty useful to the real-time control strategy with respect to performance. However, the CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO(Inha Semvung Humanoid Robot).

키워드

참고문헌

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