| 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 |
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(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 |
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(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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