CAN bus application layer protocol design for space manipulator communication system

Abstract

With the development of space technology, more and more space manipulators are put to use. Control methods of Space manipulator are also increased, from original analog control, digital control gradual transforms to distributed control which using field bus. In order to meet the needs of distributed control for space manipulators, with comparison on the basis of a variety of field bus communication protocol, we have chosen CAN-bus as space manipulator control system bus. CAN bus communication system is designed based on the analysis requirement of manipulator control system. According to the task of space manipulator system requirements, application layer protocols are defined. Communication nodes are determined by the definition of arbitration ID0 to ID2 and each message is defined by arbitration layer ID3 and data frame, which given a detailed definition of each data frame bit.