基于Windows NT的开放式机器人实时控制系统  

A Robotic Real-time Control System with Open Architecture Based on Windows NT

作　　者：张广立[1] 付莹[1] 杨汝清[1] 张伟军[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《上海交通大学学报》2003年第5期724-728,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(69975 0 14 );国家高技术研究发展计划 (863 )项目(863 -5 12 -972 0 -0 4)

摘　　要：针对传统工业机器人所采用的专用封闭式结构的局限性 ,开发了一个可在 Windows NT平台下运行的开放式工业机器人控制系统 .该系统采用单处理器结构 ,可在通用的工业计算机和Windows NT加 RTX实时扩展环境下运行 ,具有良好的实时性和友好的图形用户接口 .系统软件采用 3层递阶结构和模块化设计 ,各模块之间的通信被抽象和统一为接口 ,并且通过灵活的接口配置子系统对接口进行配置 ,可灵活地添加或删除接口 ,使系统软件具有良好的开放性和可扩展性 .为了便于推广应用 ,采用标准 C语言作为机器人编程语言 ,并提供一系列机器人编程接口供用户程序调用 。An open architecture industrial robotic control system based on Windows NT was developed to overcome the limitations of the special architectures adopted by traditional industrial robots. This robotic control system, whose architecture is single CPU structure, can run at general industrial computers. Owing to Windows NT operation system and RTX real time extension environment, the control system has friendly graphic user interface as well as good real time performance. Due to the three layer hierarchical architecture and modularization of the system software, in which the modules can communicate with each other through the unified interfaces, the control system is open and extensible. Furthermore, the interfaces in the system can be added or removed easily through the interface configuration subsystem. To promote the application of the robot system, C language is used as the basic programming language of the robot system. A serial of robot programming API is provided to make users develop their own robot applications easily and flexibly.

关 键 词：机器人控制器 开放结构控制器 实时控制 机器人学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]