CAN 내장 휴머노이드 로봇에 대한 응용층 설계

초록

The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. Unfortunately, CAN, in its current form, is not able to either share out the system bandwidth among the different devices fairly or to grant an upper bound on the transmission times experienced by the nodes connected to the communication medium as it happens, for instance, in the token-based networks. In this paper, we present An Application Layer Design for Humanoid Robot in the CAN. Besides introducing the new algorism, this paper also presents some performance figures obtained using a specially developed software simulator and experimentation for composition of CAN which uses JTAG mode of a parallel debugging., while the behavior of the new algorism is compared with the traditional CAN systems, in order to see how effective they are.