Simultaneously , the obtained data was transmitted on can protocol . in can network , the information in all of the nodes could be exchanged mutually , i . e . , multi - host transmitting mode was realized in can network Can網絡上其他節點可以接收本節點發出的數據,同時本節點也可以接受其它節點送來的數據,即在can網絡上實現多主傳送方式。
Emphatically introduce the can communication protocol in user layer based on multi - host competition and bus arbitration , and state the distribute software mechanism which applies the vxd ( virtual x device ) technology which work in ringo of the windows operation system to realize the real - time control of the robotic excavator 著重闡述了基于多主競爭和總線仲裁的命令加參數的can高層通信協議的制定和為實現機器人實時控制而采用的以vxd (虛擬設備驅動程序)為核心的分層分布式軟件體系結構。 4 、展示挖掘機器人分布式控制系統的運行狀況。