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本文介绍一种先进智能柔性伺服控制系统.作者着重在通信接口、触碰检测、抓握控制、握力控制及摩擦测量等方面叙述该系统的硬件结构和软件流程.该系统的控制软件用高级实时控制程序语言PL/M编写,由于采用模块化结构设计,因而具有灵活性和易维护性.为了通用目的,智能柔性控制系统作为联系纽带在BITBUS网络和本地设备间提供了一个通信链路,以便完成实时分布式控制.为了实现同一个终端或一台计算机的本地通信协议,该系统还支持一个RS-232串行异步通信链路.CIMS智能本地接口部件(LIU)和操作器控制器具有低成本、多功能、
This paper introduces an advanced intelligent flexible servo control system.The author focuses on the hardware structure and software flow of the system in the aspects of communication interface, touch detection, grip control, grip control and friction measurement.The control software of the system uses advanced real-time Control programming language PL / M, flexible and easy-to-maintain due to its modular design, for the general purpose, the intelligent flexible control system serves as a link between the BITBUS network and the local device to provide a communication link Complete real-time distributed control.This system also supports one RS-232 serial asynchronous communication link in order to realize the local communication protocol of the same terminal or a computer.The CIMS Intelligent Local Interface Unit (LIU) and operator controller have low Cost, multi-purpose,