CAJ | 학술논문

针对工业机器人控制系统的发展趋势和国内运动控制器的落后现状,提出了一种以μC/OS-III实时操作系统作为软件平台的机器人控制系统。该系统采用单处理器架构,利用嵌入式高性能MCU给控制系统提供运算和接口通讯保障,系统软件采用模块化设计,各模块分配不同的优先级,利用μC/OS-III强大的任务管理功能来保证系统的实时运转。利用μC/OS-III提供的API,采用标准C语言进行编程,可以任意添加和删除任务模块,具有很好的开放性和拓展性,用户可以方便的自定义控制系统功能和控制算法。通过实验验证,基于μC/OS-III的工业机器人嵌入式实时系统能够满足工业机器人对实时性的要求。
침대공업궤기인공제계통적발전추세화국내운동공제기적락후현상,제출료일충이μC/OS-III실시조작계통작위연건평태적궤기인공제계통。해계통채용단처리기가구,이용감입식고성능MCU급공제계통제공운산화접구통신보장,계통연건채용모괴화설계,각모괴분배불동적우선급,이용μC/OS-III강대적임무관리공능래보증계통적실시운전。이용μC/OS-III제공적API,채용표준C어언진행편정,가이임의첨가화산제임무모괴,구유흔호적개방성화탁전성,용호가이방편적자정의공제계통공능화공제산법。통과실험험증,기우μC/OS-III적공업궤기인감입식실시계통능구만족공업궤기인대실시성적요구。
A robot real-time control system based onμC/OS-III is developed in order to follow the tendency of industrial robot control system and to give domestic controller manufacturer a new way to develop new controllers. The system uses only one Cortex-M4 MCU to provide enough computing power and communi-cation interfaces. The software system is developed in modules; each module has its own priority. UsingμC/OS-III’ s powerful task management function to guarantee the system’ s real-time characteristic. User can modify the system’ s function and algorithm conveniently using μC/OS-III’ s APIs and ANSI C. The system has good openness and expandability. The control system can meet the real-time requirements of in-dustrial robot through experiments.