The development of robot industry puts higher requirements on cost, multi-function and multi-purpose. Therefore, the modular technology gets a great deal of attention, and becomes one of the important issues of current robot research. Robots bus is a key part for the robot modular technology. In this thesis, robot bus protocol analyses, module design and application are focused. The main content of this thesis is as follow. Firstly, with the demands of the modular design for robots, a bus access module scheme for servo control systems of modular robots is proposed. The protocol and transmission scheme of Robot General Bus (Robbus) is introduced and integrated into the bus access module. Secondly, a bus access module based on the proposed scheme for GSK AC servo driver is developed and tested. The experimental results show that the bus access module can fulfill data transmission for servo drivers and reduce complexity of the driving system structure. The real-time performance and reliability of the bus access modules for servo driver control are also acceptable. Thirdly, under the purpose of the real-time transmission of large amounts of data for robots, a fiber-optic communication module is designed based on FPGA and SFP transceiver. In the fiber-optic communication module, different communication protocols can be realized by programming on FPGA for different applications. Fourthly, a protocol is designed based on the fiber-optic communication module in this thesis. The functional and timing simulation are done for the protocol. The fiber-optic communication system based on the module is debugged and tested. The experimental results show that the proposed protocol is feasible. Finally, the whole thesis is summarized and further work is addressed.
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