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《微计算机信息》 2006-11
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An Open Architecture of Robotic control system based on PMAC

(College of information science & engineering, Wuhan University of science & technology, Wuhan, China, 430081) HU,Peng FANG,Kangling LIU,Xi-aoyu  
An open architecture of robotic control system based on PMAC (Programmable Multi-Axis Controller) was designed with IPC (Industrial Personal Computer) plus DSP (Digital signal processor) structure. With bi-processor two level structure applied and modular software designed, High level IPC is in charge of path planning and system management, While low level PMAC executes position servo control of single joint and coordinated control of several joints. The robot control system runs smoothly in experiment and has excellently open and expanding ability.
【Fund】: 2005年度湖北省教育厅科研基金资助项目基金号码:B200511007
【CateGory Index】: TP242
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