普杰信, 严学高, 孟正大. 机器人分布式计算机控制系统结构的性能分析[J]. 机器人, 1994, 16(3): 144-149.
引用本文: 普杰信, 严学高, 孟正大. 机器人分布式计算机控制系统结构的性能分析[J]. 机器人, 1994, 16(3): 144-149.
PU Jiexin, YAN Xuegao, MENG Zhengda. ANALYSIS ON PROPERTIES OF THE COMPUTER ARCHITECTURE FOR ROBOT DISTRIBUTED CONTROL SYSTEM[J]. ROBOT, 1994, 16(3): 144-149.
Citation: PU Jiexin, YAN Xuegao, MENG Zhengda. ANALYSIS ON PROPERTIES OF THE COMPUTER ARCHITECTURE FOR ROBOT DISTRIBUTED CONTROL SYSTEM[J]. ROBOT, 1994, 16(3): 144-149.

机器人分布式计算机控制系统结构的性能分析

ANALYSIS ON PROPERTIES OF THE COMPUTER ARCHITECTURE FOR ROBOT DISTRIBUTED CONTROL SYSTEM

  • 摘要: 本文从多处理机系统组织结构入手,根据多关节机器人控制特点,提出了组成机器人分布式计算机控制系统的三种结构.依据分布式系统理论,应用马尔可夫过程,对此三种体系结构的工作效率,建立了数学模型,给出了效率曲线,并从不同角度对三种结构的处理能力进行了分析,为设计机器人分布式计算机控制系统提供了理论依据.

     

    Abstract: This paper presents three structu res of robot's distributed computer control system based on multi-processor structure and multi-joint、 robot control.It constructs the mathematical models of the efficien-cy for three architectures on the basis of distributed system and Markov processes,gaves the efficiency curves and analyses those performance.The paper draws a conclusion:it is the most efficient structure to apply the dual-port RAM to common memory. It provides scientific bssis for designing a robot's distrlbuted computer control system.

     

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