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

Kwon Sun-Ku (인하대학교 전기공학과)
Kim Byung-Yoon (인하대학교 전기공학과)
Kim Jin-Hwan (인하공업전문대학 전기정보과학과)
Huh Uk-Youl (인하대학교 전자전기공학부)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.55, no.1, 2006 , pp. 24-30 More about this Journal
Abstract
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).
Keywords
CAN; Distributed Control; Message Scheduling; Transmission Delay; Bit Mask; Round-Robin Acces;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
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