NKRS-1型通用机器人实验系统的研制

DEVELOPMENT OF A GENERAL ROBOT EXPERIMENTAL SYSTEM NKRS-1

摘要: 南开大学机器人实验室研制的NKRS—1型通用机器人实验系统由PUMA760机器人和NKRS—1机器人的控制系统组成．该实验系统为机器人控制系统的各部分设计和研究提供了一个真实可靠的软硬件环境，对于机器人控制级的算法研究和评估．对于协调级的改进以及任务级的实现，该实验系统均是十分重要的基础性工作．NKRS—1实验系统采用了灵活独特的硬件体系结构，硬件资源完全向用户开放；备有功能可以与VAL—Ⅱ语言相媲美的NSV1.0语言；各种界面丰富；另外，NKRS—1实验系统还具有一个实时数据采集分析系统．

Abstract: Our general robot experimental system NKRS-1 was developed in The Robotics Laboratory ofNankai University. It consists of a robot PUMA 760 and a controller. This system provides with real andreliable software / hardware environments for the design of general robot controller. A flexible computerarchitecture is chosen and several distinctive interface boards are designed for NKRS-1. A kind of robotlanguage NSV1.0 is developed. It rivals VAL-Ⅱ. In addition, the NKRS-1 is also equipped with an effec-tive real-time acquistion & analysis system.