工业机器人控制系统的开放性与实时性研究  

Study on open and real-time performance ofindustry robot control system

作　　者：韦文求[1] 谢存禧[1] 张铁[1] 庄焕伟[1] 

机构地区：[1]华南理工大学机械工程学院,广州510640

出　　处：《现代制造工程》2007年第3期109-112,共4页Modern Manufacturing Engineering

摘　　要：针对工业机器人系统对开放性和实时性能的需求,从硬件和软件两方面详细讨论机器人控制器在开放性和实时性上的要求以及目前的研究进展,并从这两方面构建了基于ARM7微处理器运动控制板的SCARA机器人的控制系统,充分利用嵌入式技术、CAN总线技术、SoC技术等多项技术,同时将RTAI(Real Time Application Interface)和uClinux相结合组成双核嵌入式实时系统,保证系统具有较强的开放性和硬实时性,最后通过实验验证了系统的可行性和较好的实时性能。The request of the open architecture robot controller and its research development recently from the viewpoint of the software and hardware is discussed, based on the needs for the open and real-time performance of industry robot system. And an open architecture scara robot control system is presented, which includes hardware and software based on S3G44BOX microprocessor. Some new technologies are utilized in the system, such as embedded technology, CAN technology, SoC （ System on a Chip） technology and so on. RTAI（ Real Time Application Interface）and uClinux are transplanted and integrated to this robot control system as an emdedded and real-time operation system. Those assure this system is open and hard real-time. Finally, the feasibility and real-time performance of this system is confirmed by the experiment.

关 键 词：开放式控制系统 分层结构设计 硬实时性 RTAI 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]