| Popis: |
Multi-robot System (MRS) for intelligent creel consists of automatic winder, transferring, transiting and supplying robot and provides the possibilities of the flexibility and automation of textile industry workshop. Based on the principle of centralized management and distributed control the system and designs distributed control system (DCS) of Multi-robot for intelligent creel based on CAN bus. Layered architecture is established consisting of main control layer, communication layer, synchronous coordination layer and execution layer. According to the complex characteristics of the system, a synchronous controller is designed to allocate and coordinate task,improving the intelligence of the system. Coordination controller also realizes function of CAN Bridge. |
