摘要
通过SOPC Builder构造出来的Nios II微处理软核及外围设备作为工业机器人控制器硬件平台在其上进行嵌入式操作系统μC/OS-II的移植构成一个基础平台,以嵌入式系统的任务设计概念改变传统设计的前后台控制方式,通过多任务划分将整个系统的任务分为多个按优先级调度任务,完成机器人不同的操作任务。从而改善了传统机器人系统软件单任务顺序机制,系统安全性、实时性都得到了显著的提高。
On the system development platform based on SOPC Builder,completed transplanting μC/OS Ⅱ on the Nios Ⅱ.The pa- per change the front-back control traditional method by task design concept and assign system task to multiple different level task which is deployed by PRI to achieve the different operation task of robot.This paper transfers the mechanism of traditional system soft which operate under one task sequence performance mechanism,thus the safety and real-time performance gained magnitude improvement.
出处
《工业控制计算机》
2007年第12期13-14,共2页
Industrial Control Computer
基金
河南省教育厅自然科学基金项目(200610464031)
