Robot controller with opening structure

Abstract

This invention belongs to the technical field of application of computer and relates to a controller of open structure for robot. The controller comprises a hardware consisting of industrial controlling computer and periphery equipments of the controller system of open structure and a software consisting of real time operating system of open source code and application software system of open controller; said application software system of open controller RTOC consists of three main operating stratifications; the base stratification abstracts the equipment unrelated accessing interfaces on the basis of driving programs of each specific equipment; the middle stratification is responsible to manage the definition and operation of the servo period of the system; the application stratification is application programs in high level disposing the middle stratification with a simple way and monitoring the state of the system.

Description

technical field [0001] The invention belongs to the field of computer application technology, in particular to the design of an open structure robot controller based on real-time Linux. Background technique [0002] Robot controller refers to the sum of software and hardware that can complete robot control functions. With the wide application of robots, different application fields require robot controllers to be able to integrate different peripheral devices and various software function modules, and it is hoped that the controller can be transplanted between different software and hardware platforms. With the development of applications, the concept of open architecture controller was proposed. [0003] In the early days when the concept of an open architecture controller was proposed, many hardware manufacturers launched controller hardware products based on certain standards that could be developed by third parties. Representative of these products are controllers such...

AI Technical Summary

Problems solved by technology

[0013] First of all, although ORC puts forward the concept of layering and oriented to different users in the system architecture, because the programming interfaces of different types of modules at different levels require users with different application backgrounds to expand the software modules, and the high-level system lacks a unified Expansion interface, so in the application of the system, it brings difficulties to the realization of system scalability

In addition, because the underlying hardware is a control device using the VME bus standard and a closed real-time UNIX operating system, the existing software does not have an open control interface, so the closedness of the system hardware standard interface also affects the open control. expandability

Secondly, since ORC is developed on a real-time UNIX system, in terms of software implementation, it lacks a portability mechanism

Thirdly, the ORC system allows users with different application backgrounds to expand the system to a certain extent at different levels, but it lacks a tailoring and customization mechanism for the expanded system, so the system's customizable functions need to be improved

Finally, although the expanded software at the bottom of the system can achieve good interaction with the drive control objects of the VME bus standard, due to the lack of openness in the true sense of the VME bus standard, the relationship between ORC and the newly expanded system drive objects Interaction ability needs to be improved

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