遥控移动式作业机器人实时多任务管理系统

本文介绍遥控移动式作业机器人实时多任务管理系统．该系统是在多总线和位总线相结合的计算机系统上，利用ｉＲＭＸⅡ实时多任务操作系统设计编制的实时多任务管理系统．该系统为遥控机器人提供了数据通讯，人机接口，任务作业等重要管理工作，使机器人能顺利地完成机械手操作和车体运动等重要控制功能。

This paper introduces a real  time multitask management system for mobile telerobot. It is designed for the management of the communication system, man  machine inteface, control system with iRMXⅡ real  time multitask operating system based on a computer system with multibus and bitbus, so that the robot can performe very well the control fuctions of dual maste  slave manipulators and articulated truck vehicle and other fuctions.