Robot controller with opening structure

An open structure and controller technology, applied in program control design, instruments, memory systems, etc., can solve the problems of no open control interface, lack of portability, lack of high-level expansion interfaces, etc., to achieve good interactivity , the effect of improving openness and reducing costs
CN1424649AInactive Publication Date: 2003-06-18TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2003-06-18
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Claims

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