引用本文: | 邹逢兴.关于机器人力控制器计算机系统的设计方案探讨[J].国防科技大学学报,1990,12(2):73-79.[点击复制] |
Zou Fengxing.Investigation of Design Projects on Computer System of Robot Force Controller[J].Journal of National University of Defense Technology,1990,12(2):73-79[点击复制] |
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关于机器人力控制器计算机系统的设计方案探讨 |
邹逢兴 |
(自动控制系)
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摘要: |
本文从机器人力反馈依从控制的任务和要求出发,对机器人控制多处理机系统设计中的几个主要问题,包括总的系统结构、存储器结构、机间互连结构、中断系统结构、并发实时操作系统、处理机选型和多处理机系统的调试等,进行了探讨。 |
关键词: 机器人,多处理机系统,力控制器 |
DOI: |
投稿日期:1989-10-07 |
基金项目: |
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Investigation of Design Projects on Computer System of Robot Force Controller |
Zou Fengxing |
(Department of Automatic Control)
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Abstract: |
Starting from the task and the demand of robot force-feedback compliance control,the author investigates several main problems in the design of computer system for robot control,including general system architecture,memory structure,interconnection network structure,interrupt system structure,concurrent and real-time operating system, processors selection,multiprocessor system debugging and so on. Some design principles and structure projects selectable are presented in the paper. |
Keywords: robot,multiprocessor system,force controller |
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