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。
Starting from the task and the demand of robot force-feedback compliancecontrol,the author investigates several main problems in the design of compu-ter system for robot control,including general system architecture,memory st-ructure,interconnection network structure,interrupt system structure,concurrentand real-time operating system,processors selection,multiprocessor system debug-ging and so on.Some design principles and structure projects selectable are pre-sented in the paper.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
1990年第2期73-79,共7页
Journal of National University of Defense Technology
