A PARALLEL DISTRIBUTED CONTROL ARCHITECTURE FOR MULTIPLE ROBOT SYSTEMS USING A NETWORK OF MICROCOMPUTERS

被引:4
|
作者
YASUDA, G [1 ]
TACHIBANA, K [1 ]
机构
[1] SETSUNAN UNIV,NEYAGAWA,OSAKA 572,JAPAN
关键词
MULTIPLE ROBOTS; PETRI NET; COMMUNICATION; PARALLEL PROCESSING; IMPLEMENTATION;
D O I
10.1016/0360-8352(94)90238-0
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
This paper presents the design and implementation of a parallel distributed control architecture for industrial multiple robot systems. The design methodology is based on a concept of discrete states and actions, and a robotic task is represented as a sequence of primitive actions. For cooperative or exclusive tasks at the synchronous level of multiple robot systems, Petri net representation is applied, and discrete event-driven control is implemented as a data flow network of concurrent processes communicating with each other. Implementation of multiprocessing control on a microcomputer and a network of microcomputers is discussed.
引用
收藏
页码:63 / 66
页数:4
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