Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT  

作　　者：张广立 付莹 杨汝清 

机构地区：[1]Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China [2]Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, Chinahis paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.

出　　处：《Journal of Donghua University(English Edition)》2003年第4期123-127,共5页东华大学学报（英文版）

基　　金：Supported by National Natural Science foundation of China (No. 69975014)

摘　　要：This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's real-time time performance and friendly user interface in one generalpurpose operating system.A three layer hierarchical system more scalable and flexible.Furthermore a communication and configuration system is implemented to make the control system scalable and flexible.

关 键 词：robot controller open architecture controller real-time control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP316.86[自动化与计算机技术—控制科学与工程]