{"title":"Implementation and design of open control system for industrial robot based on double-CPU","authors":"Tian Maosheng, Tang Xiaoqi, Zhang Yong","doi":"10.1109/CCIENG.2011.6008017","DOIUrl":null,"url":null,"abstract":"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 ×86 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.","PeriodicalId":6316,"journal":{"name":"2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering","volume":"37 1","pages":"298-301"},"PeriodicalIF":0.0000,"publicationDate":"2011-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCIENG.2011.6008017","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
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 ×86 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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
