Embedded control system for industrial robots

摘要

This paper addresses the hardware and software platforms for the control system of industrial robots, which are developed for high-reliability, easy-expansibility and high-openness. In order to get high-reliability, the hardware of controller consists of microcontroller ARM (advanced RISC machines) and FPGA, the software system consists of a real-time operating system which manages robot hardware, executes path planning and data processing. The pendent employs an embedded Linux which performs display and programming. The controller architecture has three layers, each of which can be decomposed into further functional sub-modules which communication with middle layer for the openness. The entire system has been successfully developed, implemented and demonstrated for a industrial robot.