基于PMAC的开放式工业机器人运动控制数据实时采集研究

摘要

实时数据采集与通信子系统是工业机器人运动控制系统的基本环节， PMAC 卡作为底层控制器在工业机器人运动控制中广泛应用。根据数据采集源、与上位机通信模式，对基于 PMAC 的数据采集方法进行分析，确定在线指令方式进行数据采集，定制了基于网口的开放通信模块。在实现过程中采用了软件模块化、多线程、定时器、双缓存等技术实现指令编码、数据采集与解码。测试结果证明了通信与采集子系统的稳定性和实时性。%Real-time data acquisition and communication subsystem are basic aspects of the industrial robot motion control system, and the PMAC card as the underlying controller is widely used in industrial robot motion control. According to the data collecting sources and the different communication modes between host and PMAC, we selected the online command for data collecting, and customized open communication module based on Ethernet port. In the implementation process, we used software modularity, multi-threading, timers, and double-buffering technology to achieve instruction encoding, data acquisition and decoding. The test results proved the performance of stability and real-time for communication and acquisition subsystem.