介绍了一种开放式机器人的体系结构,并详细地讨论了控制系统硬件与软件的设计。系统在硬件上通过一台工业计算机,一块DSP运动控制卡来实现机器人的运动控制;在软件上采用了模块化的结构,为机器人提供人机接口、数据通讯、控制算法解算、多任务作业管理等功能,使机器人能自主地完成各种机械运动和控制工作。%In this paper,a kind of open architecture of robotic system isintroduced and the design of hardware and software is discussed in detail.The hardware of system uses a PC and a DSP motion control card which complete motion Control.The aim of system software is to complete man machine interface,data communication,control algorithm solving,multitasking and so on.
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