周学才, 李卫平, 李强. 开放式机器人通用控制系统[J]. 机器人, 1998, 20(1): 25-31..
ZHOU Xuecai, LI Weiping, LI Qiang. A UNIVERSAL CONTROL SYSTEM WITH OPEN ARCHITECTURE FOR ROBOTIC CONTROL. ROBOT, 1998, 20(1): 25-31..
Abstract:Adopting the DSP(Digital Signal Processor) motion-control technique in robotics, this paper presents a new universal control system with open architecture for robotic control. In the paper, we first present the architecture of the system hardware and software. Then, we make a detailed explanation on the main modules of the system. Finally, we show an experimental system with good results to demonstrate the effectiveness of the proposed system.
1 Chen J B.N Y M PH:A Multiprocessor for Manipulation Applications.IEEE International Conference on Robotics and Automation,1986:1731~1736 2 Leahy M B.T he R A L Hierarchical Control System.IEEE International Conference on Robotics and Automation,1986:407~411 3 Sundar Narasimhan et al.Implementation of Control Methodologies on Computation Architecture for the Utah/MIT Hand.IEEE International Conference on Robotics and Automation,1986:1884~1889 4 Peter Kazanzides.A Multiproces sor System for Read-time Robotic Control:Design and Applications.IEEE International Conference on Robotics and A ut omat ion,1987:1903~1908 5 Kim J J.Computer Architecture and Low Level Control of the PU M A/R A L Hand System:Work in Progress.IEEE International Conference on Robotics and Automation,1987:1590~1594 6 Shalom J I,Peter Kazanzides.SPA R TA:Multiple Signal Processors for High-performance Robotic Control.IEEE Internaional Conference on Robotics and Automation,1988:284~290 7 Klafter R D et al.Robotic Engineering.Prentice-hall International,Inc,1989 8 Xuecai Zhou,Qi Shi,Zexiang Li.Contact Localization Using Force/Torque Measurements.IEEE International Conference on Robotics and Automation,Minneapolis,1996:1339~1344