(1)開放性模塊化的控製係統體(ti) 係結構：采用分布式CPU計算機結構，分為(wei) 機器人控製器(RC)，運動控製器(MC)，光電隔離I/O控製板、傳(chuan) 感器處理板和編程示教盒等。機器人控製器(RC)和編程示教盒通過串口/CAN總線進行通訊。機器人控製器(RC)的主計算機完成機器人的運動規劃、插補和位置伺服以及主控邏輯、數字I/O、傳(chuan) 感器處理等功能，而編程示教盒完成信息的顯示和按鍵的輸入。

(1) Open modular control system architecture: adopting a distributed CPU computer structure, it is divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board, and programming teaching box. The robot controller (RC) and programming teaching box communicate through a serial port/CAN bus. The main computer of the robot controller (RC) completes the robot's motion planning, interpolation, position servo, main control logic, digital I/O, sensor processing and other functions, while the programming teaching box displays information and inputs buttons.

(2)模塊化層次化的控製器軟件係統：軟件係統建立在基於(yu) 開源的實時多任務操作係統Linux上，采用分層和模塊化結構設計，以實現軟件係統的開放性。整個(ge) 控製器軟件係統分為(wei) 三個(ge) 層次：硬件驅動層、核心層和應用層。三個(ge) 層次分別麵對不同的功能需求，對應不同層次的開發，係統中各個(ge) 層次內(nei) 部由若幹個(ge) 功能相對對立的模塊組成，這些功能模塊相互協作共同實現該層次所提供的功能。

(2) Modular and Hierarchical Controller Software System: The software system is built on the open-source real-time multitasking operating system Linux, and adopts a layered and modular structure design to achieve the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer, and application layer. The three levels face different functional requirements and correspond to different levels of development. Within each level of the system, there are several modules with relatively opposite functions, which work together to achieve the functions provided by that level.

(3)機器人的故障診斷與(yu) 維護技術：通過各種信息，對機器人故障進行診斷，並進行相應維護，是保證機器人性的關(guan) 鍵技術。

(3) Fault diagnosis and safety maintenance technology for robots: Diagnosis and corresponding maintenance of robot faults through various information is a key technology to ensure the safety of robots.

(4)網絡化機器人控製器技術：當前機器人的應用工程由單台機器人工作站向機器人生產(chan) 線發展，機器人控製器的聯網技術變得越來越重要。控製器上具有串口、現場總線及以太網的聯網功能。可用於(yu) 機器人控製器之間和機器人控製器同上位機的通訊，便於(yu) 對機器人生產(chan) 線進行監控、診斷和管理。

(4) Network based robot controller technology: Currently, the application engineering of robots is developing from single robot workstations to robot production lines, and the networking technology of robot controllers is becoming increasingly important. The controller has networking functions such as serial port, fieldbus, and Ethernet. Can be used for communication between robot controllers and between robot controllers and the upper computer, facilitating monitoring, diagnosis, and management of robot production lines.