基于μC/OS-Ⅲ的工业机器人嵌入式实时控制系统  

An Industrial Robot Embedded Real-Time Control System Based on μC/OS-Ⅲ

作　　者：何明超[1] 曹其新[1] 冷春涛[1] 

机构地区：[1]上海交通大学机械与动力工程学院机器人所,上海200240

出　　处：《组合机床与自动化加工技术》2015年第6期49-52,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：上海市科学技术委员会科研计划项目(12111101002)

摘　　要：针对工业机器人控制系统的发展趋势和国内运动控制器的落后现状,提出了一种以μC/OS-Ⅲ实时操作系统作为软件平台的机器人控制系统。该系统采用单处理器架构,利用嵌入式高性能MCU给控制系统提供运算和接口通讯保障,系统软件采用模块化设计,各模块分配不同的优先级,利用μC/OS-III强大的任务管理功能来保证系统的实时运转。利用μC/OS-Ⅲ提供的API,采用标准C语言进行编程,可以任意添加和删除任务模块,具有很好的开放性和拓展性,用户可以方便的自定义控制系统功能和控制算法。通过实验验证,基于μC/OS-Ⅲ的工业机器人嵌入式实时系统能够满足工业机器人对实时性的要求。A robot real-time control system based on μC / OS-Ⅲ is developed in order to follow the tendency of industrial robot control system and to give domestic controller manufacturer a new w ay to develop new controllers. The system uses only one Cortex-M4 MCU to provide enough computing pow er and communication interfaces. The softw are system is developed in modules; each module has its ow n priority. UsingμC / OS-Ⅲ ＇s pow erful task management function to guarantee the system ＇s real-time characteristic. User can modify the system ＇s function and algorithm conveniently using μC / OS-Ⅲ ＇s APIs and ANSI C. The system has good openness and expandability. The control system can meet the real-time requirements of industrial robot through experiments.

关 键 词：μC/OS-Ⅲ 机器人控制系统 实时系统 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]