采用CAN总线作为模块间的通信接口，有效地支持了多关节实时控制。
CAN bus is introduced as the communication interface for different modules and it supports the multi joints 'real-time control effectively.
其设计包括不同数据节点的CAN控制器，及单片机控制的CAN接口模块和基于DSP TMS320 LF 2407a的CAN总线接口等。
The design includes designs of different can controllers for different data nodes, the can module controlled by single chip computer and can bus interface based on DSP TMS320LF2407A, etc.
介绍了一种基于CAN总线的分布式工业机器人控制器的研究开发情况，实现了总线与各模块的接口设计，并制定出相应的机器人控制器内部通信协议。
This paper introduces a kind of industrial robot based on CAN and implements the interface between the communication bus and the system's modules. It also brings forward communication protocol.
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