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

来源：

COMPUTERS & INDUSTRIAL ENGINEERING | 1994年 / 27卷 / 1-4期

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

页码：63 / 66

页数：4

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