| 机器人关节变量的多微机并行算法 |
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| 引用本文： | 蔡荣希. 机器人关节变量的多微机并行算法[J]. 系统工程与电子技术, 1989, 0(8) |
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| 作者姓名： | 蔡荣希 |
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| 作者单位： | 中国海洋开发研究中心 |
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| 摘 要： | 本文对机器人控制器运动学求逆运动学关节角的运算进行了并行算法研究,并在共享存储器结构的三台及四台Z80-Ⅱ型单板机构成的多机系统上实现了这一算法。这一研究目的是为了分析在机器人控制器的大量计算中如何提高运算速度及并行效率。实验表明该方法对解机器人某些问题是可行的,采用本算法无论在速度还是在效率上都较其它算法占优势。
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| 关 键 词： | 机器人 并行处理 算法 多处理机 |
MUITI-MICROPROCESSORS PARALLEL ALGORITHMS OF ROBOT JOINT VARIABLE |
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| Cai RongxiChina Marine Development and Research Center. MUITI-MICROPROCESSORS PARALLEL ALGORITHMS OF ROBOT JOINT VARIABLE[J]. System Engineering and Electronics, 1989, 0(8) |
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| Authors: | Cai RongxiChina Marine Development and Research Center |
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| Affiliation: | Cai RongxiChina Marine Development and Research Center |
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| Abstract: | This paper studies the problem of using parallel algorithms to calculate the inverse kinematic joint angles, which was realized in a multimicroprocessors system for the robot controller. The purpose of the research is to analyze how to increase the calculation speed and the parallel efficiency in a large number of operations. The experiment shows that the method is feasible for solving some problems of the robot controller. This method is better than other ones not only in the calculation speed but also in the parallel efficiency. |
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| Keywords: | Robot Parallel processing algorithm Multiprocessor. |
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