대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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- Pages.2806-2808
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- 2005
CAN 기반 휴머노이드 로봇에서의 데이터 프레임 최소화
Minimizing Data Frame in CAN Controller Area Network for Humanoid Robot
- Kwon, Sun-Ku (Dep. of Electrical Engineering, Inha Univ.) ;
- Huh, Uk-Youl (Dep. of Electrical Engineering, Inha Univ.) ;
- Kim, Jin-Geol (Dep. of Electrical Engineering, Inha Univ.)
- 발행 : 2005.07.18
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 bit must be controlled to minimize the response time and reduce the variation of data transmission time. At first, this paper shows that conventional CAN protocol causes the transmission time delay. Secondly, this paper proposes the method to reduce the stuff bits by restriction of available identifier. Finally, data manipulation method can be reduced the number of stuff-bits in the data field. The proposed restriction method of ID and manipulating data field are pretty useful to the real-time control strategy with respect to performance. These procedures are implemented in local controllers of the ISHURO (Inha Semyung Humanoid Robot).
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