【摘要】 采用分层-分布式结构,设计了由规划层、协调层和分布式执行层构成的3层-分布式双臂凿岩机器人控制系统,有效地降低了系统的复杂程度,使系统的可维护性、可靠性及可扩展性得到提高。给出了控制系统的基本构成和软、硬件的实现,分析了工作原理及工作过程。更多还原

【Abstract】 A hierarchical-distributed control system for the dual-arm rock drilling robot was designed,which was composed of planning layer,cooperating layer and distributed performing layer.This configuration decreased the complexity and increased the reliability,maintainability and expansibility of the control system.The overall structure of the control system as well as the software and hardware realization scheme were offered,and the working principle and process of the system were analyzed.更多还原