(4) Real-time, multi-task requirements
The robot controller must be able to complete the processing of external interrupts within a certain time and allow multiple tasks to be performed simultaneously.
(5) Network communication function
Use the function of network communication to facilitate resource sharing or multiple robots working together.
(6) Visually intuitive human-machine interface
In addition, in the robot controller, the motion control board is indispensable. Due to the different performance of the robot, the requirements for the motion control board are also different. The PMAC (Programmable Multi-axies Controller) introduced by Delta Tau of the United States has attracted attention at home and abroad. PMAC is a powerful motion controller that comprehensively develops the powerful functions of DSP technology, providing users with powerful functions and great flexibility. With Motorola's DSP56001 digital signal processor, PMAC can operate from 1 to 8 axes simultaneously, which has many advantages over other motion control boards.
Due to the wide variety of software and hardware suitable for robot control and the rapid development of modern technology, it is difficult to develop a fully standardized and standardized robot controller, but apply existing technologies such as industrial PCs for good openness, security and networking. Sex, standard real-time multitasking operating system, standard bus structure, standard interface, etc., break the existing robot controller structure closure situation, and develop a standardized robot controller with open structure and functional modularity is completely feasible.
5 Conclusion
With the development of robot technology, the field of robot application has been expanding, and higher requirements have been placed on the performance of robots. Therefore, how to effectively apply other fields (such as image processing, voice recognition, optimal control, artificial intelligence, etc.) The application of research results to the real-time operation of robotic control systems is a challenging research effort. The research on modular and standardized robot controllers with open structure is of great significance to improve the performance and autonomy of robots and promote the development of robotics.
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