基于RTOS的幕墙擦洗机器人平台控制系统开发

The Development of Control System for a Clean Robot Based on RTOS

为满足幕墙擦洗机器人平台对控制系统实时性和并发性的要求,以μC/OS-II实时操作系统(RTOS)为平台,针对本机器人的特定应用开发了其软硬件系统。介绍了擦洗机器人的功能结构特征,说明了控制系统结构。以此为基础,分析了机器人本体多任务软件的划分和任务优先级的确定。实验证明本控制系统有效地实现了机器人运动层的控制协调。

In order to meet the requirement of real-time and concurrent control in wall cleaning robot, the hardware and software for this specific application are developed under μC/OS-Ⅱ real-time operating system. This paper firstly presents the whole robot mechanical and control system in detail On the basis of those, the division and priority-setting of the robot＇s tasks are discussed. The experiment has showed that the control and coordination of the robot in locomotion layer are effectively realized.