机器人控制软件框架中实时任务模块的设计与实现

摘要

Aiming at the real-time requirement of robotic control, some improvements were made based on the previously developed component based robotic software framework. These improvements included: the newly designed interface for real-time task, the concept of real-time task module, the new model for real-time clock, and new scheme for execution of multiple real-time tasks. The new framework was implemented using the Java programming language, and the real-time clock was implemented based on JNI, so that the Windows OS based multimedia clock could be integrated into the Java program and providing the most accurate clock event in the PC platform. The test result demonstrates the effectiveness of the framework. The results indicate that the improved software framework is more suitable for mechatronic control software development, especially for the application of robot, which has certain requirements of real-time performance. This software framework decreases the difficulties in building robotic control softwares and provides a strong flexible development for its software development platform.%针对机器人控制中存在的实时性要求,在原组件式机器人控制软件框架的基础上设计了新的任务模块接口.提出了实时任务模块的概念,采用实时时钟模型执行多实时任务的方法,实现了多任务的并发实时运行；并基于Java平台和Windows操作系统进行了实现,其中框架整体采用Java平台实现,Java平台中的时钟采用JNI技术在Windows操作系统上实现；最后进行了系统实时性测试,测试结果验证了该系统的实时性要求.研究结果表明:经过改进后的机器人控制软件框架,适合机器人控制软件的开发,尤其是对多任务实时性有一定要求的机器人控制软件开发；同时该控制软件框架降低了架构机器人控制软件的难度,并为其软件开发提供了一个柔性开发平台.