中文摘要：

采用同步Petri网对机器人实时软件调度系统建模,提出了多任务模块的时间监控指标和可调度性验证方法.可有效处理智能算法运行时间存在较大不确定性的情形.通过气浮平台同步运动控制以及机器人力控制试验,验证了所提出模型和可调度校验方法的有效性.

英文摘要：

It is necessary to verify the sitics. A synchronized Petri nets mod priorities and the concept of event set gent control algorithm and for timing well as multi CPU architecture and is correction of robotic control algorithms as well as its timing charcterel was used for modeling the preemptive scheduling policy with fixed was introduced for calculating the unpridicable run time of an intellimonitor design. The presented method is suitable for single CPU as proved effective by trajectory control of 2-DOF air levitated platform for IC packaging and robotic force control tasks.