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本文研究用于冗余自由度机器人的多级计算机控制系统.文中阐述高级机器人计算机控制系统的一般原理,介绍基于Intel 80386系统机、MCS—96及MCS—51系列单片机的机器人控制系统,详细讨论多机通讯的实现,研究中断驱动公用总线的共享存储器结构.作为机器人轴实时
In this paper, the multi-level computer control system for a robot with redundant degrees of freedom is studied. In this paper, the general principle of advanced robot computer control system is introduced. The robot control system based on Intel 80386 system machine, MCS-96 and MCS-51 series microcontrollers is introduced. The realization of multi-machine communication, the study of interrupt-driven shared bus shared memory structure as a real-time robot axis