本文基于超大规模集成（ＶＬＳＩ）的脉动（Ｓｙｓｔｏｌｉｃ）结构，提出了实现机器人线性化模型的参数辨识及自适应控制中扰动力矩的并行计算方法．时序分析表明，该方法可使机器人自适应控制中扰动力矩计算的实时性得到很大提高 Based on the VLSI (Systolic) structure, this paper presents a parallel method to realize the parameter identification of robot linearization model and the disturbance torque in adaptive control. Timing analysis shows that this method can greatly improve the real-time performance of disturbance torque calculation in robot adaptive control