【摘要】 针对多移动微机器人应用系统对数据传输实时性的要求,在实时以太网协议RT-EP的基础上,使用令牌传送机制及时间槽通信机制设计了相应的通信协议RT-MRCP,满足了数据传输的实时性。并设计了实时通信协议RT-MRCP的错误处理机制,分析了通信协议RT-MRCP的实时特性。试验证明了通信协议RT-MRCP的实时性能。更多还原

【Abstract】 To satisfy the requirement on data transmission real-time performance for the multiple mobile micro-robot application system,on the basis of Real-time Ethernet Protocol( RT-EP),token-passing mechanism and time slot communication mechanism was used to design communication protocol RT-MRCP,which could the real-time performance of data transmission. Furthermore,an error handling mechanism was designed for real-time communication protocol RT-MRCP and its real-time performance was analyzed.Experimental results have verified real-time performance of communication protocol RT-MRCP.更多还原