提出了采用双网络结构的思想，并详细介绍了双网络通信软件的功能设计、实现方法及编程接口。
An idea of dual network SCADA system is proposed and the function design, implementation method and programming interface of dual network communication software are introduced.
该系统采用模块化结构，配有实时操作系统软件及高速数据通信接口，可以完成多自由度的实时规划与控制。
Modular structure is used in the system, real-time planning and control for 7-dof is implemented with real-time operating system software and high speed data communication interface.
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