Aiming at the problem of poor real-time property of control of manipulator in motion controll system

a method for modular joint control for fast task scheduling based on multi-degree of freedom（ Do F） manipulator is put forward. In order to verify the effectiveness of this scheme

taking Geomagic Touch multi-degree of freedom desktop manipulator device as control object

MATLAB is used for system design. The system overall design is divided into three parts

such as the application program interface（ API） design of manipulator

control system and task scheduling design

pose and position solving and attitude record design of manipulator. Device API and control system and task scheduling are processed with sub-module. The control part of system uses hierarchical task scheduling. System structure combines multi-channel control signal flow with multi-feedback loop.Experimental results show that it spends a little time in quickly completing the task scheduling for control system.Time can be controlled within 0. 5 s from initialization to the first task scheduling is completed

and the time can be controlled within 0. 12 s for task switching scheduling and execution. The real-time and dynamic characteristics of system meet requirements of manipulator control.