一个先进的工业机器人计算机控制系统——ARCS

随着工业机器人及其应用的不断发展,要求一个强有力的计算机系统来控制它的工作,并具有灵活、方便的机器人编程语言.本文系统地介绍了我们自行设计并实现的一个先进的机器人控制系统——ARCS.该系统主要包括两部分:(1)一个实时多任务的机器人控制软件SVAL系统,该系统支持一种通用性较强的机器人编程语言——SVAL语言.(2)一个支持该软件系统工作的、具有开放式结构的硬件环境.ARCS系统具有良好的实时性、可扩展性及基于外部传感器信号进行控制的能力.由于该系统的开放式结构.使其根据不同要求可方便地增删其功能,并可控制不同类型的机器人.我们已成功地实现对PUMA760机器人的控制,并在其上引入了力觉与接近觉的传感器,采样时间可缩短到16ms.一年多的运行结果证明,该系统稳定可靠,性能良好,现在正向产品转化.

New trends in robotics applications require powerful robot control system. In this paper we describe an ad-vanced robot control system. It includes mainly two parts: a) A real time software system for robot control. Thissoftware system consists of four subsystems, that is MONITOR subsystem, TEACHBOX subsystem, SRCL IN-TERPRETER subsystem and EXCEPTION subsystem; b)An open-structure of hardware which provides a flexilebardware environment. The SRCL Language is a general robot control language which adapts to a lot of types ofrobots, such as PUMA series and other robotos.One of two period of sample time can be chosen according to theuse's demands. In addition, it is easy or to change the hardware configuration and system software for differentdemands in robot control. Now, the ARCS system has successful been used to control a PUMA760 robot.