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本文讨论了第二代机器人控制器的设计及基于Transputer并行途径的实现.机器人新的应用要求和电子技术的进展推动机器人计算机体系结构向专用化亦即VLSI化方向发展.本文提出的机器人控制系统的设计体现了分层递阶结构的控制思想,并且选用了Inmos公司的TRANSPUTER作为研制该系统的主要元件.因此,该系统能够提供比已有结构更高的计算能力、可扩展性和灵活性.
This paper discusses the design of the second generation of robot controllers and the implementation of Transputer-based parallel approach.New application requirements of robots and advances in electronic technology to promote the robot computer architecture to VLSI-oriented or specialized.In this paper, the robot control system Design embodies the control idea of hierarchical hierarchical structure and selected Inmos TRANSPUTER as the main component of the system.Therefore, the system can provide more computing power than the existing structure, scalability and flexibility .