吴立卫, 刘明宝, 林润华. JTUWM-Ⅱ四足步行机器人控制系统的计算机结构[J]. 机器人, 1992, 14(3): 28-32.
引用本文: 吴立卫, 刘明宝, 林润华. JTUWM-Ⅱ四足步行机器人控制系统的计算机结构[J]. 机器人, 1992, 14(3): 28-32.
WU Liwei, LIU Mingbao, LIN Runhua. COMPUTER STRUCTURE FOR THE CONTROL SYSTEM OF QUARDRUPED WALKING ROBOT[J]. ROBOT, 1992, 14(3): 28-32.
Citation: WU Liwei, LIU Mingbao, LIN Runhua. COMPUTER STRUCTURE FOR THE CONTROL SYSTEM OF QUARDRUPED WALKING ROBOT[J]. ROBOT, 1992, 14(3): 28-32.

JTUWM-Ⅱ四足步行机器人控制系统的计算机结构

COMPUTER STRUCTURE FOR THE CONTROL SYSTEM OF QUARDRUPED WALKING ROBOT

  • 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.

     

    Abstract: This paper deals with the computer structure of a distributed control system for a quardruped walking robot.It details a new kind of muhiprocessors connection structure based on distributed mail boxes and a method of information transmission between processors based on information package which not only maintain the advantages of shared memory structure but also avoid the bottle-neck problem in the single shared memory system.The design efficiently promotes the abilities of parallel processing,real time control as well as the feasibility of the control system.

     

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