摘要
本文介绍了四足步行机器人分级分布式控制系统的计算机结构.着重提出了一种分布式邮箱的多处理机互连结构以及基于信息包为单位的处理器信息交互方式,既保留了处理器共享存储器互连结构的长处,又避免了单一共享存储器结构在处理信息交互时通信信道竞争/仲裁现象,疏散了信息流,消除了信道拥挤的“瓶颈”现象,有效地提高了系统并行处理和实时控制的能力.系统模块化设计使系统可靠性及重构性均得以提高.
This paper deals with the computer structure of a distributed control system for a quardruped walkingrobot.It details a new kind of muhiprocessors connection structure based on distributed mail boxes and amethod of information transmission between processors based on information package which not only main-tain the advantages of shared memory structure but also avoid the bottle-neck problem in the single sharedmemory system.The design efficiently promotes the abilities of parallel processing,real time control as wellas the feasibility of the control system.
出处
《机器人》
EI
CSCD
北大核心
1992年第3期29-32,共4页
Robot
基金
"863"国家高技术委员会的资助
关键词
步行机器人
控制系统
计算机结构
multiprocessors
walking robot
distributed control
shared memory
