摘要
工业机器人控制器作为决定工业机器人性能的关键部件,良好的通用性和灵活的拓展性是其系统技术发展的重要趋势。采用模块化的思想,设计了基于Xenomai实时操作系统的工业机器人控制器实时多任务软件构架,在论述系统运行管理基本原理的基础上,详细介绍了控制器系统中各个子任务模块间同步与通信机制的实现,并阐述了该方案中机器人运行系统多任务协作运行方式。
In this paper,a real-time multi-tasking software architecture for robot controller based on Xenomai real-time operating system is designed by adopting the idea of modularization.And this paper discusses the design of synchronization and communication mechanism among each sub-task modules based on the basic principle of system operating management and describes the process of multi-tasking cooperative operation in this control system.
出处
《工业控制计算机》
2017年第3期1-3,共3页
Industrial Control Computer
基金
江苏省科技成果转化专项资金项目(BA2014044
BA2015004)
