【摘要】 这里介绍一种控制系统软件程序的设计方法,以满足应用中需要多种控制操作、实时性高的要求。定义程序任务,规划前、后台方式的程序整体结构,建立多任务动态调度机制,结构化任务间的交换数据并进行保护。将多任务程序设计方法应用在装配机器人控制软件中,并且采用相关的编程技术加以实现。该方法应用在机器人实时控制系统的软件设计中具有较好的效果。更多还原

【Abstract】 In this paper, a software programming method for control system is introduced, in order to meet the requirement of multi-operation and real-time control for practice. The program frame based on front/behind console was proposed,and program task was defined.Dynamic Multi-task dispatching mechanism was built. The data exchanged between tasks was structured and protected.The multi-task programming method was applied on the control software for assembly robot,by means of the relative programming techniques.The application of the method had good effects on design of the software for robotic real-time control system.更多还原