【摘要】 针对WINDOWSNT弱实时的特性 ,对其内核进行了实时扩展 ,引入了强实时扩展软件RTX ,分析和测试其实时性能 ,并在基础上完成基于RTX的全软件的关节位置伺服控制。实验结果验证了在一台工业PC上 ,采用WINDOWSNT +RTX实时扩展 ,实现全软件化的工业机器人控制器的可行性更多还原

【Abstract】 The strong real time tool-RTX is introduced because of poor real time performance of WINDOW NT. This paper analyzes the real time performance of RTX and completes full-software joint position servo control based on RTX. The results of experiment proves that it is possible that full-software industrial robot controller may be realized based on PC.更多还原