Design Model and Synchronous Controllers for a Dual 3-DOF Manipulator based on CAN Network

Abstract

This paper mentions two synchronous control algorithms for a dual 3-degree-of-freedom (3-DOF) manipulator robot based on the CAN BUS network, including the master-slave approach (MSA) and cross-coupling control (CCC) algorithms. In the MSA synchronization algorithm, the set trajectory of the master robot is the desired set trajectory, and the set trajectory of the slave robot is the output position of the master robot. In the CCC synchronization algorithm, the set trajectories of the dual arm manipulators ensure stability and synchronize their movements while maintaining the desired trajectory. In this paper, the robot model is designed using SolidWorks software. Then the data is transferred to Simscape software combined with MATLAB Simulink to simulate and evaluate the two synchronous control methods mentioned. An experimental model of a dual 3-DOF manipulator is being constructed to evaluate the practical effectiveness of these two methods, which use the CAN BUS protocol for communication between them. The study utilizes 2-level distributed control based on the CAN BUS protocol. At level 1, this protocol is applied to communicate with the microcontroller, which controls the joints of the two robotic arms. At level 2, this protocol is applied to interface with the microcontroller, which controls the dual 3-DOF manipulator. Finally, the simulation results and experimental models based on the CAN-BUS protocol are used to evaluate the synchronization effect of the two proposed methods.