目前主流工业机器人为封闭式控制结构，存在不开源、二次开发难的问题，因此设计一种基于TwinCAT3（the windows control and automation technology）的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块，采用倍福自动化设备规范（automation device specification, ADS）通信技术和实时工业以太网总线技术（ethernet for control automation technology, EtherCAT），建立以计算机（personal computer, PC）和倍福控制器为EtherCAT主站，控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术，完成虚拟样机与物理样机的联动；采用开源可扩展架构，便于视觉算法、智能算法等算法集成。经实验验证，此架构具有拓展性好、实时性强的特点。

At present, the mainstream industrial robot control system, which adopts a closed structure, has problems with non-open sources and secondary development difficulty. Therefore, a cross-platform robot control system architecture with good portability based on the windows control and automation technology (TwinCAT3) was designed. In the architecture, vision, motion control, algorithm integration and simulation control modules were integrated. The automation device specification (ADS) and ethernet for control automation technology (EtherCAT) communication technology were used. With PC and Beckhoff controller as the EtherCAT master station, one master multi-slaves' working mode was designed to control multiple sets of slave actuators. To complete the linkage between the virtual prototype and physical prototype, this mode combined offline and online control, and integrated digital twin technology. It adopted open-source and scalable architecture, which facilitated the integration of vision algorithms, intelligent algorithms, etc. Experiments verify that this architecture has the characteristics of good scalability and great real-time performance.