| Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT |
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| 作者姓名： | 张广立 付莹 杨汝清 |
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| 作者单位： | Research Institute of Robotics，Shanghai Jiaotong University，Shanghai 200030，China，Research Institute of Robotics，Shanghai Jiaotong University，Shanghai 200030，China，Research Institute of Robotics，Shanghai Jiaotong University，Shanghai 200030，China |
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| 基金项目： | Supported by National Natural Science foundation of China (No. 69975014) |
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| 摘 要： | This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.
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Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT |
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| ZHANG Guang-li,FU Ying,YANG Ru-qing
Research Institute of Robotics,Shanghai Jiaotong University,Shanghai ,China.Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT[J].Journal of Donghua University,2003,20(4). |
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| Authors: | ZHANG Guang-li FU Ying YANG Ru-qing
Research Institute of Robotics Shanghai Jiaotong University Shanghai China |
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| Institution: | Research Institute of Robotics,Shanghai Jiaotong University,Shanghai 200030,China |
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| Abstract: | This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible. |
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| Keywords: | robot controller open architecture controller real-time control |
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