Multi-tasking Syetem Design for Multi-axis Synchronous Control of Robot Based on RTOS

摘要

With the complexity of industrial robot mechanisms, from multi-axis single-arm robots to multi-axis dual-arm robots to multi-robot collaborations, the requirements for real-time communication and synchronous control of robots have become higher and higher. In order to solve the problem of real-time communication and synchronization of control of the complex mechanism of the robot, a real-time robot control system with a multi-task structure based on an open source RTOS is designed. First, the development direction of contemporary robot controllers and some mainstream robot controllers are introduced. Then, the overall architecture of the real-time robot control system based on EtherCAT is given in the real-time requirements of the control system. The control system is based on the open-source SylixOS embedded RTOS. It follows a modular concept and uses the control layer as the core to form a real-time multi-tasking structure. With the help of the EtherCAT open-source protocol stack code, the controller and the servo drive system can realize real-time data interaction. Then, test whether the RTOS's real-time performance meets the controller's requirements, and analyze the EtherCAT synchronization mechanism. Finally, a real-time multi-task control system experiment on a dual-arm robot is built.