用于机器人应用的分布式系统

P. Belmans, J. Borrelly, M. Mejía, D. Simon
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引用次数: 4

摘要

提出了一种用于机器人应用的分布式控制系统。该系统通过并行计算提高了实时性能,并为机器人控制算法的实现提供了极大的模块化和多功能性。概述了基于任务函数的机器人控制理论,提出了机器人应用模型。这种理念比传统的分层结构更普遍,并允许智能传感器在伺服系统中进行反馈。提出了实现这种控制算法的软件和硬件架构。所有的系统活动都依赖于任务之间的通信,因此要考虑实时通信系统的设计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A distributed system for robotic applications
A distributed control system for robotic applications is presented. This system allows a real-time performance increase, by parallelism of computation, and offers great modularity and versatility in robot control algorithm implementation. The robot control theory based on task-functions is outlined, and a model for robotic applications is proposed. This philosophy is more general than the classical hierarchical structure and allows smart sensor feedback at the servo. Software and hardware architectures are proposed to implement such control algorithms. All the system activity depends on communication between tasks and so the design of a real-time communication system is considered.<>
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