对软实时控制系统以及机器人正运动学模型的构建进行了研究.该软实时控制系统的硬件电路结构主要是由PC104和FPGA构成,软件上在RTLinux进行开发.利用该系统对工业机器人进行了实时控制,其实验数据验证了整个控制系统的有效性.%Soft real-time control system and the construction of the robot kinematics model has been studied Hardware structure of the soft real-time control system is mainly constituted by the PC 104 and the FP-GA and we can develop software in RTLinux. Industrial robots are controlled by the real-time system. The experimental data validate the effectiveness of the whole control system.
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