基于多线程技术的3R机器人控制系统

Control System of 3R Robot Based on Multithreading Technology

介绍了多线程技术在自动化航材库三自由度拾取机器人控制系统中的应用。机器人为3R开链连杆式结构,控制系统采用闭环控制,应用多线程技术,一方面,避免了实时控制造成主线程阻塞,为用户提供了友好的操作界面;另一方面,实现了机器人的实时闭环控制,满足了运动速度和定位精度的要求。

Application of multithreading technology in the control system of a three freedoms picking robot of auto aerial stuff store is introduced. The robot is of 3R open trail connecting- rod mechanics. The control system adopts closed loop control. Multithreading technology is used in control program, firstly, block of main thread is prevented and a friendly control interface is provided for the user; secondly, real- time closed loop control is realized, and which can fulfill the requirements of motion speed and location precision.