视窗环境下机器人控制系统的开发

Development of Robot Control System Under the Environment of Windows

机器人的控制具有很强的实时性,在控制过程中又要同时完成大量的运动求解计算,因此要求计算机的操作系统具有较高的实时性。本系统采用DSP运动控制器PMAC卡嵌入通用PC机构成一种典型的前后台结构的控制系统,使得开发出的控制系统具有友好的人机界面和良好的实时性,实践证明,该控制系统具有轨迹行程精确、响应速度快、定位准确度高等优良性能。

We have built a typical control system with the mode of DSP motion controller, called PMAC. As a result, the developed control system has a good man-machine interface and excellent capabilit y of real-time. It has been proved practically that the control system achieves some excellent capabilities such as precise trajectory, little responding time, high precision in fi xing position.