(1)开放性模块化的控制系统体系结构：采用分布式CPU计算机结构，分为机器人控制器(RC)，运动控制器(MC)，光电隔离I/O控制板、传感器处理板和编程示教盒等。机器人控制器(RC)和编程示教盒通过串口/CAN总线进行通讯。机器人控制器(RC)的主计算机完成机器人的运动规划、插补和位置伺服以及主控逻辑、数字I/O、传感器处理等功能，而编程示教盒完成信息的显示和按键的输入。

(1) Open modular control system architecture: adopting a distributed CPU computer structure, it is divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board, and programming teaching box. The robot controller (RC) and programming teaching box communicate through a serial port/CAN bus. The main computer of the robot controller (RC) completes the robot's motion planning, interpolation, position servo, main control logic, digital I/O, sensor processing and other functions, while the programming teaching box displays information and inputs buttons.

(2)模块化层次化的控制器软件系统：软件系统建立在基于开源的实时多任务操作系统Linux上，采用分层和模块化结构设计，以实现软件系统的开放性。整个控制器软件系统分为三个层次：硬件驱动层、核心层和应用层。三个层次分别面对不同的功能需求，对应不同层次的开发，系统中各个层次内部由若干个功能相对对立的模块组成，这些功能模块相互协作共同实现该层次所提供的功能。

(2) Modular and Hierarchical Controller Software System: The software system is built on the open-source real-time multitasking operating system Linux, and adopts a layered and modular structure design to achieve the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer, and application layer. The three levels face different functional requirements and correspond to different levels of development. Within each level of the system, there are several modules with relatively opposite functions, which work together to achieve the functions provided by that level.

(3)机器人的故障诊断与维护技术：通过各种信息，对机器人故障进行诊断，并进行相应维护，是保证机器人性的关键技术。

(3) Fault diagnosis and safety maintenance technology for robots: Diagnosis and corresponding maintenance of robot faults through various information is a key technology to ensure the safety of robots.

(4)网络化机器人控制器技术：当前机器人的应用工程由单台机器人工作站向机器人生产线发展，机器人控制器的联网技术变得越来越重要。控制器上具有串口、现场总线及以太网的联网功能。可用于机器人控制器之间和机器人控制器同上位机的通讯，便于对机器人生产线进行监控、诊断和管理。

(4) Network based robot controller technology: Currently, the application engineering of robots is developing from single robot workstations to robot production lines, and the networking technology of robot controllers is becoming increasingly important. The controller has networking functions such as serial port, fieldbus, and Ethernet. Can be used for communication between robot controllers and between robot controllers and the upper computer, facilitating monitoring, diagnosis, and management of robot production lines.