基于RTX的工业机器人控制系统设计与实现

摘要

The industrial robot control system based on RTX is designed and implemented for the realtime , high-precision, multi-task control requirements of industrial robot. The industrial robot control system based on RTX has the industrial computer and the RTX real-time operating system as the core and it takes full advantage of the industrial computer rich resources and the RTX real-time processing capability to achieve an open, extensible, industrial robot control system platform. The control system successfully is applied to independently developed 4-axis industrial robot, and experimental results show that the control system not only realizes the high-performance control of the robot but also provides the extensible infrastructure for the robot.%针对工业机器人的实时、高精度、多任务的控制要求,设计并实现了基于RTX的工业机器人控制系统.基于RTX的工业机器人控制系统以工业计算机和RTX实时操作系统为核心,充分利用了工业计算机的丰富资源以及RTX强大的实时处理能力,实现了一个开放的可扩展的工业机器人控制系统平台.最后将该控制系统成功应用于自主研制的四轴工业机器人,实验结果表明,该系统实现了工业机器人的高性能控制,并且为机器人的功能扩展提供了基础架构.