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.
出处
《现代制造工程》
CSCD
2007年第3期109-112,共4页
Modern Manufacturing Engineering
关键词
开放式控制系统
分层结构设计
硬实时性
RTAI
The open control system
Multi-layer architecture design
Hard real-time performance
RTAI
作者简介
韦文求，硕士研究生，研究方向：机器人及其自动化。E-mail：weiwenqiu@163．com
谢存禧，博士生导师，研究方向：机器人设计理论及工程应用。
张铁，副教授，研究方向：机器人设计理论及工程应用。
庄焕伟,硕士研究生，研究方向：机器人设计理论及工程应用。
