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. ROBOT, 1990, 12(6): 33-38..
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.
[1] Fu K S er aL Robotics:control, sensing, vision and intelligence. New York, McGraw-Hill Book Company, 1987:201-266
[2] Kuntze H-B. Regelungsalgorithmen füe rxhnergesteuerie Industrieroboter.Regelungstochnik,1984;32(7):215-226
[3] Orin D E. Pipelined approach to inverse plant plus Jacobian control of robot manipulators. In:Proc. IEEE Int Conf on Robotics, AVanta, 1984:169-175
[4] Paul R P, Zhang H. Design of a robot Corce/motion server. In:Proc Int Conf on Robotics and Automation, 1986:1878-1883
[5] Nigam R, Lee C S G. A mulVprocesso-based controller for the control of mechanical manipulators. In:Proc Int Conf on Robotics and Automation, 1985:815-821
[6] Liu C H, Chen Y M. Multimicroprocesso-based Cartesian space control techniques for a mechanical manipulator. In:Proc Int Conf on Robotics and Automation, 1986:823-827
[7] Rojek R et al. Schnelle Koordinatentransformation and Führungsgrösaeneraeugung fur bahngefuhrte Industrieroboter.Robotersys tame, 1986;2:73-81
[8] 龚为廷,黄恩乃一种高速的单片机处理机系统MTMS.见:国除单片机技术交流会论文集,中国,上海,1987:45-49
[9] Simar R. Floating-point arithmetic with the TMS32010. Digital Signal Processing Applications, Texas Instruments, 1986:213-244
[10] 方滨,方力.一种适用于STD总线系统的高速运算处理单元.见:国际单片机技术交流会论文集.中国,上海,1987:377
[11] 方滨.五自由度关节型工业机器人动力学方程的符号计算法.北京工业大学自动化系技术报告.1987
[12] Izaguirre A, Paul R P. Computation of the inertial and gravitational coefficients of the dynamics equations for a robot manipulator with a load. In:Proc Int Conf on Robotics and Automation, 1985:1024-1032
[13] Lathrop R H. Parallelism in manipulator dynamics. In:Proc Int Conf on Robotics and Automation,1985:772-778