挖掘机器人的实时控制系统研究

Research on Real-time Control System of Robotic Excavator

挖掘机器人控制具有严重的非线性,其动力系统控制、成形挖掘、自主控制等需要大量的计算,并要求控制的实时性。为解决上述困难,提出了应用分布式控制策略实现挖掘机器人的实时控制。分布式控制系统属于第三代过程控制系统。

The control of the robotic excavator has serious nonlinearity. Real-time control is necessary for the control of dynamical system, shaped excavation and autonomous control because they all need a great deal of compute. To resolve above difficulty, the author bring forward a new plan for the robotic excavator, that is named'the robotic excavator distribute control system'. It belongs to the third era Process Control system.