Controller area network (CAN) based geometric tracking of scara robot

Abstract

Controller Area Network (CAN) was initially designed for automotive applications. Due to its robustness and efficiency, the application of CAN become wide. Nowadays, CAN is used not only in automotive fields, but also robotics, automation, even un-manned system. Even though CAN performs well, still there is limited studies conducted to compare the performance between centralize system and CAN based system. In this study, a SCARA robot were choose as the plant and modeled using Simulink. The same system later on will be reconfigured to make it as a CAN based system. The outcome of both systems was then analyzed to evaluate their performance and to test their reliability. It is proven that, the system running on CAN network is able to reach end point faster as compared to centralized system. The CAN system also proved its robustness when tested at max traffic.