Journal of Computer Applications ›› 2014, Vol. 34 ›› Issue (10): 3059-3064.DOI: 10.11772/j.issn.1001-9081.2014.10.3059

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Software architecture design for space manipulator control system based on C/S structure

ZHANG Guanghui,WANG Yaonan   

  1. College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China
  • Received:2014-05-12 Revised:2014-06-25 Online:2014-10-01 Published:2014-10-30
  • Contact: ZHANG Guanghui



  1. 湖南大学 电气与信息工程学院,长沙 410082
  • 通讯作者: 张光辉
  • 作者简介:张光辉(1988-),男,河南商丘人,硕士研究生,主要研究方向:智能控制与机器人;
  • 基金资助:



To achieve high-performance and practical space manipulator control software, a software architecture for space manipulator control system based on multithreading and round-robin queue was proposed under the C/S structure, as well the details of implementation. After analyzing the features and functional requirements of space manipulator control software, the various functions of manipulator control software were distributed to four different parallel threads, according to the principle of transverse block and vertical stratification, and two round-robin queues were created for caching, to improve the control systems data processing ability and reduce unnecessary waiting time. Those four threads and two round-robin queues communicated with each other to work together. The experimental results show that it is easy enough to control space manipulators with a short delay through this software architecture, and the performance meets the actual needs, which proves the effectiveness and feasibility of this scheme.



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