摘要
以IPC+PMAC作为CINCINNATI工业机器人的控制器,设计了一种基于PMAC的开放式机器人控制系统。系统采用双微机分级控制方式和模块化结构软件设计,上级IPC负责路径规划,下级PMAC则实现对各个关节的位置伺服控制和多个关节的协调控制。实践证明这种机器人控制系统运行平稳,具有良好的开放性和扩展性。
An open architecture of CINCINNATI induatrial control system based on PMAC as designed with IPC plus PMAC structure. With bi - processor two level structure applied and modular software designed, High level IPC is in charge of path planning, While low level PMAC executes position servo control of single joint and coordinated control of several joints. The robot control system runs smoothly in experiment and has excellently open and expanding ability.
出处
《机电产品开发与创新》
2008年第4期4-5,13,共3页
Development & Innovation of Machinery & Electrical Products
基金
国家863资助项目(863-512-30-07)
