中图分类号：TP241.2
文献标识码：A
DOI： 10.19358/j.issn.2096-5133.2020.04.015
引用格式：巢惠世，梁宏斌，蔡土淇.基于Linux的机械臂实时控制系统研究［J］.信息技术与网络安全，2020,39（4）：81-85.

Research on real-time control system of manipulator based on Linux

Abstract： Aiming at China′s selfdeveloped robotic arm control system,it is mostly dependent on foreign expensive commercial businesses.It adopts a realtime transformation method that adds RT patches to Linux.A sixdegreeoffreedom robotic arm is used as the research object,and the system architecture is built on the lower computer to implement a multitasking robotic arm control system including TCP communication process,decoding process,interpolation inverse solution process,and I / O process.At the same time,software design is performed on the upper computer of the manipulator to realize the input of humanmachine interface instructions.Status display,communication and other functions provide an effective development plan for the realtime control system of the robotic arm.By using the RT test tool set for realtime inspection,the results meet the realtime performance.At the same time,the MATLAB/ Robotic Toolbox is used to establish the kinematic model of the robot arm,and the movement space and trajectory of the robot arm are simulated to obtain a continuous and stable end curve. The simulation results prove the correctness and feasibility of the control system design.

Key words : robotic arm；Linux；realtime operating system；realtime transformation；teaching device；control system