基于并行结构实现并联机器人规划级运动控制算法

THE PARALLEL MANIPULATOR PROGRAM GRADE MOTION CONTROL REALIZATION BASED ON PARALLEL COMPUTER ARCHITECTURE

摘要: 该文对并联机器人规划级运动控制基于并行结构的计算进行了研究，分析了并行算法．设计了并行处理双机系统结构．文中的研究内容大大提高了并联机器人运动控制算法的实时处理速度，进而改善并联机器人的控制质量与性能．

Abstract: The paper researches parallel manipulator program grade motion control algorithm realization based on parallel computer architecture, gives the parallel processing algorithm, and designs a multiple computer system. The results quicken the parallel manipulator motion control algorithm real-time processing, and improve the manipulator control performance.