A real-time distributed computer system for coordinated-motion control of two industrial robots

作者：Yuan F. Zheng, J. Luh, Pei Jia · 年份：2005 · DOI：10.1109/robot.1987.1087828 · 被引用次数：30 · 研究领域：Robot Manipulation and Learning、Reinforcement Learning in Robotics、Modular Robots and Swarm Intelligence

The design of a distributed computer system for coordinated-motion control of two industrial robots is discussed. The control mechanism for the coordinated-motion control has a hierarchical nature. For hierarchically related computational tasks, a tree-structured multicomputer system is selected as the architecture of the distributed computer system (DCS). The emphasis of the work is on the design of a distributed operating system (DOS) called REKCOR, which stands for REal-time Kernel for Coordinating Robots. It provides transparent operations to the users, and maintains the flexibility and modularity of the system. The successful design of REKCOR is verified by a practical experiment, in which the distributed computer system controls two industrial robots to successfully execute a coordinated-motion.