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介绍一种具有通用结构的实时控制器的硬件和软件结构，利用这种结构设计的分级并行式数字式位置控制系统在机器人位置控制中的应用。用实时中断与查询技术相结合的方式处理与硬件直接相关的实时控制问题。系统中以 ＰＣ为上位机，下位机为高性能单片机，由双端口ＲＡＭ构成的共享存储区作为上、下位机实时通信的通道。
The hardware and software structure of a real-time controller with general structure is introduced. The application of hierarchical and parallel digital position control system with this structure in robot position control is introduced. Using real-time interrupt and query technology to deal with the real-time control problems directly related to the hardware. In the system, the PC is the upper computer and the lower computer is the high performance microcontroller. The shared memory area formed by the dual-port RAM serves as the channel for real-time communication of the upper computer and the lower computer.