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—MIMD 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。
A new computer architecturc-MIMD multimicroprocessor parallel proce-ssing system used in robot force-feedback compliance contro—is describedfrom the views of system hardware and software.The system is designedfor fulfiling a practical research project.It can efficiently and parallellyprocess the multitask in the robot force/positlon mixed control.The reali-zation of the system will make the servo-control period shorten to 5 ms andmeet various needs of robot control tasks.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
1990年第4期50-56,共7页
Journal of National University of Defense Technology
关键词
机器人
计算机系统
力反馈控制
robot
computer system
parallel processing/force—feedback control
computer architecture
multimicroprocessor system
