A computer controller for coordinated control in autonomous machines.

1. 开发了一种多微机协同控制系统，该系统有效地利用共享内存进行应用任务间的通信。为了充分利用这一硬件体系结构，介绍了一种新的软件系统构建方法。当在应用领域中指定控制流图时，用户可以根据自己的意愿准备任务程序之间的通信通道。采用该方法可以实现紧凑、灵活的实时系统。提出了一种利用微分几何对自由形状进行处理的方法。设计师可以使用切平面除了顶点，当他们组成一个几何模型。此外，当用数控加工形状时，控制器可以利用切平面的斜率来有效地生成刀具轨迹。开发了一种紧凑的工作环境建模系统，用于机械手运动轨迹的生成。三维几何建模与构型空间模型和视觉传感器相关联。利用该系统，研究了实时轨迹生成的有效性。在公式操作系统REDUCE中构建了铰接机械手的机构和动力学模型。实时执行公式操作是不可能的，但这些被用于控制程序的代码生成。目标是为减少计算负载准备定制的程序。研究了该方法的有效性。

1. A Multi-microcomputer system for coordinated control was developed, where the shared memory was effectively used for communications among application tasks. In order to make use of this hardware architecture, a new construction method of software systems was introduced. When a control flow graph is specified in an application field, users can prepare communication channels among task programs at their will. Using this method, compact and flexible real-time systems can be realized.2. A manipulation method of free form shapes using differential geometry was developed. Designers can use tangential planes besides vertices, when they make up a geometric model. Moreover, when a shape is machined with numerical control, a controller can use the slope of tangential planes for efficient tool path generation.3. A compact modeling system of working environment was developed for generating manipulator trajectories. The three dimensional geometric modeling was associated with the model of configuration space and visual sensors. Using this system, the availability of real-time trajectory generation is investigated.4. Mechanisms and dynamics of articulated manipulators were constructed in the formula manipulation system REDUCE. It is impossible to execute formula manipulation in real-time, but these were used for code generation of control programs. The objective is to prepare customized programs for computation load reduction. The effectiveness of this method is investigated.