摘要： 针对我国自主研发的机械臂控制系统较少，多依赖于国外价格昂贵的商用系统，采用在Linux中加入RT补丁的实时改造方法，以六自由度机械臂为研究对象，在下位机上进行系统架构搭建，实现一个包括TCP通信进程、译码进程、插补逆解进程、I/O进程的一个多任务处理的机械臂控制系统；同时对机械臂的上位机进行软件设计，实现人机界面指令输入、状态显示、通信等功能，为机械臂的实时控制系统提供了一种有效开发方案。通过采用RT测试工具集进行实时性检验，其结果满足实时性，同时利用MATLAB/Robotic Toolbox工具箱建立机器臂运动学模型，对机械臂运动空间及轨迹进行仿真，得到了连续平稳的末端曲线，仿真结果证明了控制系统设计的正确性以及可行性。

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