摘要
为满足工业级双臂机器人装配过程的多任务并发与实时性需求,充分利用嵌入式技术、CAN总线技术以及RTAI实时核等技术,开发了一种基于RTAI实时核的多线程应用环境,并设计了一种双定时器数据稳定收发保障机制等,整个系统具有极强的开放性与灵活的适应性。对双臂机器人装配过程进行实时与非实时任务划分,充分利用RTAI强大的实时处理能力,拓展了工业机器人在复杂工况中的应用领域。最后通过仿真与实验,证明了该系统具有良好的实时性能,可以满足双臂机器人高精度装配对多任务并发与实时性的需求。
The actual assembly work of the dual-arm robot demands concurrent multi-task and real-time,this paper makes full use of embedded technology,CAN bus technology and RTAI real-time nuclear technology to put forward a kind of multi-thread development environment based on real-time RTAI kernel,and designs a stable double-timer data transceiver to ensure the data acceptance,the whole system has a strong openness and flexible adaptability.This paper divides the tasks of the dual-arm robot during the assembly process into real-time and non-real-time,and made full use of the strong real-time processing ability of the RTAI to expand the application fields of the dual-arm robot.
出处
《工业控制计算机》
2018年第9期16-18,共3页
Industrial Control Computer
基金
国家科技支撑项目(2015BAK06B02)
关键词
冗余双臂机器人
实时操作系统
实时多线程
任务规划
redundant dual-arm robot
the real-time operating system
the real-time multi-threading
task planning
