Research on the real-time module of the industrial robot control system based on the RTAI

摘要

In order to make full use of the existing free software in the robot control field, this paper designed a configurable industrial robot real-time module under the environment of RTAI. This paper designed the basic component model and set the standard of the interface between components; the functions of the real-time module were divided into various components, forming relatively independent parts; and then through changing the configuration files, the real-time module could meet the requirements of users in different conditions. The motion control component, trajectory planning component, PID component and communication component were the most basic functions of industrial robots and formed the framework of the control system. It was improved that the configurable real-time motion control module designed in this paper could easily be invoked by other software, meet the industry requirement and satisfy the various requirements.