摘要
为了满足多自由度关节型工业机器人多机交互控制的需求,以嵌入式工业PC为硬件平台,RT-Linux操作系统为软件平台,采用模块化的软件设计方法,设计了工业机器人开放式控制系统。该系统采用共享内存的方式实现内外部信号的交互,通过执行PLC程序中定义的不同的M指令来实现与外部系统的交互控制功能。在浇铸机器人交互控制中的实际应用表明:该控制系统开放性好,实时性强,运行稳定可靠。
In order to implement interactive control of multi Degree Of Freedom （DOF） articulated industrial robot, an open control system for this kind of robot was designed. Hardware of the system was designed based on embedded industrial PC and Field Programmable Gate Array （FPGA）. And the functional software of the system was modularized based on RT-Linux operating system. The interactive control signal was transmitted by shared memory of the system. And the system implemented interactive control through different M instructions defined in PLC program. The implementation of interactive control between a 3-axes articulated casting robot and 2 casting machines proves that the control system is a real open system, and it also has strong real-time control ability and reliability.
出处
《计算机应用》
CSCD
北大核心
2010年第11期3087-3090,共4页
journal of Computer Applications
基金
国家科技重大专项(2009ZX04009-011)
