基于双cpu的工业机器人开放式控制系统的实现与设计

2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering Pub Date : 2011-09-01 DOI:10.1109/CCIENG.2011.6008017

Tian Maosheng, Tang Xiaoqi, Zhang Yong

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引用次数: 1

摘要

为了提高工业机器人控制系统的开放性和灵活性，设计了一种基于双cpu的开放式控制系统。上位系统采用基于×86 CPU的嵌入式工控机和Windows XP操作系统，实现了开放式控制系统的人机界面和管理。下系统采用现场可编程门阵列(FPGA)和另一台嵌入式工控机(RT-Linux)，实现了开放式控制系统的实时运动控制。使用基于用户定义的以太网类型的以太网在两个CPU之间交换数据。将该开放式控制系统用于五自由度柔性关节机械手的控制实验，结果表明该系统的性能能够满足不同工业机器人的应用要求。

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Implementation and design of open control system for industrial robot based on double-CPU

In order to enhance openness and flexibility of industrial robot control system, an open control system based on double-CPU was designed. An embedded industrial computer based on ×86 CPU with Windows XP worked as the upper-system, which implemented HMI and management of the open control system. A FPGA(Field Programmable Gate Array) and another same embedded industrial computer with RT-Linux worked as the lower-system, which implemented realtime motion control of the open control system. Ethernet based on a user-defined Ethernet type was used for exchanging data between the two CPU. Experimental results of the open control system being used for controlling a 5 DOF(Degrees of Freedom) flexible-joint manipulator demonstrate that performance of the system can satisfy requirements of different industrial robot application.

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2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering

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