混联机器人测控软件多任务实时解耦容错调度

Multi-task Real-time Decoupling and Fault-tolerant Scheduling of Test and Control Software for Hybrid Robots

针对混联机器人测控软件的高实时性、复杂多任务、高可靠性及任务间深度耦合特点 ,及分析系统需求和建立任务描述模型的基础上 ,设计了一种对所有不同性质测控任务都能够得到真正实时执行的新型解耦容错两级调度策略。

A kind of new type fault tolerant and decoupling two level scheduling algorithms that can realize all different property test and control tasks in real time is designed aiming at the characteristic of high level real time,complex multi task,high reliability and deep coupling of the test and control software for hybrid robots on the basis of analyzing system demand and setting up task description model.It also has some general uses to other test and control software.