方滨. 基于多数字信号处理器系统的机器人控制器[J]. 机器人, 1990, 12(6): 33-38.
引用本文: 方滨. 基于多数字信号处理器系统的机器人控制器[J]. 机器人, 1990, 12(6): 33-38.
FANG Bin. A ROBOT CONTROLLER BASED ON MULTIPLE DIGITAL SIGNAL PROCESSORS[J]. ROBOT, 1990, 12(6): 33-38.
Citation: FANG Bin. A ROBOT CONTROLLER BASED ON MULTIPLE DIGITAL SIGNAL PROCESSORS[J]. ROBOT, 1990, 12(6): 33-38.

基于多数字信号处理器系统的机器人控制器

A ROBOT CONTROLLER BASED ON MULTIPLE DIGITAL SIGNAL PROCESSORS

  • 摘要: 本文介绍一种主从式机器人控制器,它使用多个高速数字信号处理器.并行计算机器人的动力学方程.提出了全动力学算法在本控制器中的一种实现方案.对于所研究的五自由度关节型工业机器人.使用该控制器.并用本文所提出的并行实现方案可使全动力学方程的计算时间和计算间隔降到4ms以下.若采用流水线/并行混合法,可使计算间隔减小到2ms以下,另外,该控制器的结构使增加或减少子机的数目都很容易,因而还可以用于其他大运算量的场合(如计算逆运动学方程、机器人视觉信息处理等).

     

    Abstract: This paper presents a master-slave robot controller which uses multiple high-speed digital signal processors to compute dynamic equations of robot manipulator parallelly. A practical computation scheme of the full dynamic equations is proposed for the controller. For the five degrees-of-freedom articulate mechanical manipulator being studied, with the robot controller the parallel scheme proposed in this paper can reduce computation time and computation interval of the full dynamic equations to 4ms or less. If the pipelined/parallel approach is used, the computation interval can be reduced to 2ms or less.

     

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