KR940008824A - Simultaneous Control Method of Multiple Robots - Google Patents
Simultaneous Control Method of Multiple Robots Download PDFInfo
- Publication number
- KR940008824A KR940008824A KR1019920018726A KR920018726A KR940008824A KR 940008824 A KR940008824 A KR 940008824A KR 1019920018726 A KR1019920018726 A KR 1019920018726A KR 920018726 A KR920018726 A KR 920018726A KR 940008824 A KR940008824 A KR 940008824A
- Authority
- KR
- South Korea
- Prior art keywords
- data
- setting
- shared memory
- memory
- checking
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multi Processors (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
본 발명은 복수로 구성된 로보트의 동시제어방법에 관한 것으로, 공유메모리안에 있으면서 세머포어함수 P(S) 및 V(S)의 정수변수인 S의 초기치를 설정하는 단계와, 통신데이터를 생성하는 단계, 공유메모리내의 비어있는 메모리영역을 확인하여 데이터를 메모리에 저장하고 유효한 데이터수의 증가를 전달하는 단계와, 유효한 데이터의 유무를 확인하여 데이터를 꺼낸 후 비어있는 슬롯수를 1개씩 증가시키는 단계와, 데이터를 소비하여 동기화된 동작을 구현시키는 단계로 이루어져 상호 배제 원칙에 의거한 공유메모리의 억세스를 행함으로써 프로세서간에 데이터 통신이 이루어지며 로보트간의 정확한 동기화 동작이 이루어질 수 있도록 한다.The present invention relates to a method for simultaneously controlling a plurality of robots, the method comprising: setting an initial value of S, which is an integer variable of the semaphore functions P (S) and V (S) in a shared memory, and generating communication data; Checking the free memory area in the shared memory, storing the data in the memory and delivering an increase in the number of valid data; and checking the presence of valid data to remove the data and increasing the number of empty slots by one; In this case, data synchronization is performed between processors by performing data access between shared processors based on mutual exclusion principle.
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.
제2도는 본 발명 동시제어방법을 구현하는 프로세서 구성도.2 is a block diagram of a processor implementing the present invention.
제3도는 제2도에 도시된 프로세서를 이용하여 통신데이터를 생성하는 과정을 설명한 플로우챠트.3 is a flowchart illustrating a process of generating communication data using the processor shown in FIG.
제4도는 제2도에 도시된 프로세서를 이용하여 통신 데이터를 이용하는 과정을 설명한 플로우챠트.4 is a flowchart illustrating a process of using communication data using the processor shown in FIG.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019920018726A KR0161003B1 (en) | 1992-10-12 | 1992-10-12 | Dual robot control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019920018726A KR0161003B1 (en) | 1992-10-12 | 1992-10-12 | Dual robot control method |
Publications (2)
Publication Number | Publication Date |
---|---|
KR940008824A true KR940008824A (en) | 1994-05-16 |
KR0161003B1 KR0161003B1 (en) | 1998-12-15 |
Family
ID=19341008
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019920018726A KR0161003B1 (en) | 1992-10-12 | 1992-10-12 | Dual robot control method |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR0161003B1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10792813B1 (en) | 2018-04-26 | 2020-10-06 | X Development Llc | Managing robot resources |
US11526823B1 (en) | 2019-12-27 | 2022-12-13 | Intrinsic Innovation Llc | Scheduling resource-constrained actions |
-
1992
- 1992-10-12 KR KR1019920018726A patent/KR0161003B1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
KR0161003B1 (en) | 1998-12-15 |
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