Multi-task real-time processing and synchronizing method based on robot control

The invention relates to a multi-task real-time processing and synchronizing method based on robot control. A running control scheduling module, a logic control scheduling module, a resource pool management module and a parallel scheduling module are configured and the four modules are coordinated, real-time performance and effectiveness of the robot control are guaranteed, parallel task control of all motion shafts of the robot and peripheral equipment of the robot can be realized, and the problem of multi-task real-time performance in the robot control process is solved. 本发明涉及一种基于机器人控制的多任务实时处理与同步方法，通过配置运行控制调度模块、逻辑控制调度模块、资源池管理模块、并行调度模块，四个模块协调配合，保证机器人控制的实时性与有效性，实现对机器人运动各轴和其外围设备的并行任务控制，解决了机器人控制过程中多任务实时性的问题。