基于MCS—51单片机的液压并联机器人MRACS实时并行处理

The Hydraulic Parallel Manipulator MRACS with Real-Time Computer Parallel Process Based on MCS-51 SCP

本文对６—ＤＯF液压并联机器人ＭＲＡＣＳ提出了一种基于ＭＣＳ—５１单片机的实时并行处理方案。采用本方案实时并行处理ＭＲＡＣ算法可以提高系统的实时信息处理能力，进而改善系统的控制性能。文中的内容对研究其它ＭＲＡＣＳ具有参考价值。

Based on MCS-51 single chip computer, a 6-DOF hydraulic parallel manipulator MRACS computer. realtime parallel process plan is presented in the paper. The realtime process MRAC calculation using the plan can be used to improve the spstem realtime information process ability, and forther, the spstem control speriality. The result in the paper has referable value for studying other MRACS.