| 引用本文: | 邹逢兴.一种用于机器人力反馈依从控制的计算机体系结构.[J].国防科技大学学报,1990,12(4):50-56.[点击复制] |
| Zou Fengxing.A Computer Architecture Used in Robot Force-Feedback Compliance Control[J].Journal of National University of Defense Technology,1990,12(4):50-56[点击复制] |
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| 一种用于机器人力反馈依从控制的计算机体系结构 |
| 邹逢兴 |
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(自动控制系)
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| 摘要: |
| 本文提出了一种用于机器人力反馈依从 (Compliance)控制的计算机体系结构—M1MD型的多微机并行处理系统，并从硬件系统结构和系统软件两方面予以了说明。该系统是为完成一项实际科研任务而设计的，它能有效地实现机器人力/位置混合控制中多任务的并行处理，它的实现将使伺服控制周期缩短到 5ms以下，能满足各种机器人控制任务的需要。 |
| 关键词: 机器人计算机系统，并行处理/力反馈控制，计算机体系结构，多微机系统 |
| DOI： |
| 投稿日期：1989-10-07 |
| 基金项目: |
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| A Computer Architecture Used in Robot Force-Feedback Compliance Control |
| Zou Fengxing |
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(Department of Automatic Control)
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| Abstract: |
| A new computer architecture-MIMD multimicroprocessor parallel processing system used in robot force-feedback compliance control-is described from the views of system hardware and software. The system is designed for fulfiling a practical research project. It can efficiently and parallelly process the multitask in the robot force/position mixed control. The realization of the system will make the servo-control period shorten to 5 ms and meet various needs of robot control tasks. |
| Keywords: robot,computer system,parallel processing/force-feedback control,computer architecture,multimicroprocessor system |
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