基于混合关键系统的工业机器人操作系统  

Industrial Robot Operating System Based on Mixed Criticality System

作　　者：武啸泽 李青锋 牛建伟[1] Wu Xiaoze;Li Qingfeng;Niu Jianwei(Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学,北京100191

出　　处：《单片机与嵌入式系统应用》2023年第12期4-7,共4页Microcontrollers & Embedded Systems

基　　金：北京市科技计划项目支持(Z221100007722001)。

摘　　要：探讨了基于混合关键系统的工业机器人操作系统的关键技术,以应对机器人在非结构化或半结构化智能场景中面临的技术瓶颈。当前,随着智能技术在机器人领域的快速应用,机器人操作系统需要同时满足面向控制系统的强实时任务和面向智能化应用的弱实时任务需求,因此需要一个异构的多核智能系统。本文提出了一种针对机器人的架构设计,旨在提高机器人操作系统的实时性、安全性和智能化水平,并对工业机器人操作系统的未来发展趋势进行了展望,预测了工业机器人操作系统未来的演进方向。This paper explores the key technologies of an industrial robot operating system based on a mixed criticality system to address the technical challenges faced by robots in non-structured or semi-structured intelligent scenarios.With the rapid application of intelligent technologies in the field of robotics,the robot operating systems need to meet the requirements of strong real-time tasks for control systems and weak real-time tasks for intelligent applications.So a heterogeneous multi-core intelligent system is needed.The paper proposes an architecture design specifically tailored for robots,with the aim of enhancing the real-time performance,security,and intelligence level of robot operating systems.Furthermore,this paper provides insights into the future development trends of industrial robot operating systems and predicts the future evolution direction.

关 键 词：嵌入式系统 机器人操作系统 分级实时多内核混合部署 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]