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

摘要：

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 x86 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.

关键词： Industrial robot Open control system Double-CPU User-defined Ethernet type

作者: Tian Maosheng TangXiaoqi Zhang Yong

作者单位: State Engineering Research Center of Numerical Control System, Huazhong University of Science and Te State Engineering Research Center of Numerical Control System, Huazhong University of Science and Te

会议类型: 国际会议

会议名称: 2011 IEEE 2nd International Conference on Computing，Control and Industrial Engineering(CCIE 2011)(第二届计算、控制与工业工程国际会议)

会议地点: 武汉

会议语种:英文

页码: 298-301

在线出版日期: 2011-08-20（万方平台首次上网日期，不代表论文的发表时间）