摘要
本文介绍了具有高可靠性、易扩展、高开放性的工业机器人控制系统的软硬件平台。为了提高系统的可靠性,系统硬件统一采用嵌入式微处理器ARM(Advanced RISC Machines)组成,控制器软件采用具有强实时性uC/OS-Ⅱ操作系统,示教盒软件采用Linux操作系统。为了提高系统的开放性和可移植性,系统软件采用层次结构和模块化结构,各个模块通过总线结构形式连接。已经完成整个系统的开发,并得到试验验证。
This paper addresses the hardware and software platforms for the control system for robotic manipulators,which are developed for high-reliability,easy-expansibility and high-openness.In order to highreliability,the entire hardware consists of microcontroller ARM（advanced RISC machines） and software system consists of a real-time operating system which manages robot hardware and executes path planning and data processing,and an embedded Linux which performs display and programming.The architectural has three layers,each of which can be decomposed into further functional sub-modules which communication with bus for the openness.The entire system has been successfully developed,implemented and demonstrated for a manipulator.
出处
《机器人技术与应用》
2010年第5期10-13,共4页
Robot Technique and Application
