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介绍了精密1号装配机器人控制系统体系结构的设计与实现。精密1号机器人是国家863计划智能机器人主题立项研制的一台SCARA结构的4轴装配机器人型号样机。它采用直接驱动技术，具有较高的运动速度和定位精度，配有高性能的视觉和力觉传感器，控制系统以Intel公司的iSBC386／12系列计算机和iRMXⅢ实时多任务操作系统为基础，采用上、下两级分布式计算机结构。控制系统除具有一般的机器人控制器的功能外，还具有用户多任务编程、可基于视觉和力觉传感器信息控制、离线编程和图形动画仿真等特性。
The design and implementation of the system architecture of precision No.1 robot assembly control system are introduced. Precision robot No. 1 is a SCARA 4-axis robot assembly prototype developed by the National 863 Program Intelligent Robot. It uses direct drive technology, high speed and positioning accuracy, with high-performance vision and force sensors, the control system based on Intel’s iSBC386 / 12 series of computers and iRMX III real-time multitasking operating system based on the use of , The next two levels of distributed computer architecture. In addition to having the general functions of a robot controller, the control system has user multitasking programming that is based on features such as visual and force sensor information control, off-line programming, and graphical animation simulation.