KR940008824A - Simultaneous Control Method of Multiple Robots - Google Patents

Simultaneous Control Method of Multiple Robots Download PDF

Info

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
Application number
KR1019920018726A
Other languages
Korean (ko)
Other versions
KR0161003B1 (en
Inventor
김진기
Original Assignee
윤종용
삼성전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 윤종용, 삼성전자 주식회사 filed Critical 윤종용
Priority to KR1019920018726A priority Critical patent/KR0161003B1/en
Publication of KR940008824A publication Critical patent/KR940008824A/en
Application granted granted Critical
Publication of KR0161003B1 publication Critical patent/KR0161003B1/en

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

Landscapes

  • 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

복수로보트의 동시제어방법Simultaneous Control Method of Multiple Robots

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)

복수개로 구성된 로보트의 제어방법에 있어서, 공유메모리안에 있으면서 세머포어 함수P(S) 및 V(S)의 정수변수인 S의 초기치를 설정하여 복수개의 프로세서가 동시에 사용되지 않도록 크리티컬 섹션을 형성하는 단계와, 상기 크리티컬 섹션이 형성된 상태에서 로보트를 동작시키기 위한 통신데이터를 생성하는 단계와, 공유메모리(2)내의 비어있는 메모리영역을 확인한 후 뮤우트세머포어 플래그를 0으로하여 메모리내에 상기 통신 데이터의 서입을 가능하게 하는 단계와, 상기 통신 데이터의 서입이 종료됨을 판별한 후에 세머포어플래그를 1로하여 타 데이터의 서입을 배제하는 단계와, 상기 공유메모리(2)에 저장된 데이터의 양을 확인한 후 데이터의 독출 과정으로 전환하는 단계와, 뮤우트세머포어 플래그를 0으로하여 상기 공유메모리(2)에서 상기 데이터를 독출하는 단계와, 데이터의 독출이 완료됐음을 판별하고 뮤우트 세머포어 플래그를 1로하여 타프로세서에 의한 데이터의 독출을 배제하는 단계와, 상기 독출된 데이터를 이용하여 동기화된 동작을 구현하는 단계로 이루어지는 것을 특징으로 하는 복수로보트의 동시제어방법.A method of controlling a plurality of robots, the method comprising: forming a critical section such that a plurality of processors are not used at the same time by setting initial values of S which are integer variables of a semaphore function P (S) and V (S) in a shared memory. And generating communication data for operating the robot in the state where the critical section is formed, checking an empty memory area in the shared memory 2, and setting the mute semaphore flag to 0 to store the communication data in the memory. Enabling writing, and after determining that writing of the communication data has ended, eliminating writing of other data by setting the semaphore flag to 1, and checking the amount of data stored in the shared memory (2). Switching to a reading process of data, and setting the mute semaphore flag to 0 in the shared memory 2. Reading the data, determining that the data has been read, excluding the reading of the data by another processor by setting the mute semaphore flag to 1, and synchronizing operations using the read data. Simultaneous control method of a plurality of robots comprising the step of implementing. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920018726A 1992-10-12 1992-10-12 Dual robot control method KR0161003B1 (en)

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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
KR0161003B1 (en) 1998-12-15

Similar Documents

Publication Publication Date Title
KR830009518A (en) Data Processing System for Parallel Processing
KR870004366A (en) Data processing systems
GB1474280A (en) Field addressing system
ATE253755T1 (en) PERSONALIZING AN INTERACTIVE CONVERSATION
KR960015518A (en) Signal processor
KR950016066A (en) Integrated circuit with digital processor and Viterbi decoder with shared memory
US3806883A (en) Least recently used location indicator
GB1482688A (en) Storage configuration comprising a main store and a buffer store
EP0353610A3 (en) Multiplexing apparatus
KR860004349A (en) Process I / O Device of Sequence Controller
KR900702742A (en) Method and apparatus for penetrating a broadband access device having a digital time switch
KR940008824A (en) Simultaneous Control Method of Multiple Robots
KR830010423A (en) Data exchange method of data processing system
JPS5919290A (en) Common memory system
KR920007187A (en) Semiconductor memory
JPS5745658A (en) Data storage system
GB1125332A (en) Data handling system
JPS6431238A (en) System for controlling store buffer
KR950001477A (en) Memory circuit
KR100199477B1 (en) Memory saving method and system
KR910006792B1 (en) Access memory expansion circuit of direcrt memory access controller
KR890004238A (en) Sequential access memory
JPS5725063A (en) Input data editing system
JPS57150038A (en) Address designating circuit
JPS6269321A (en) Process switching system

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20050727

Year of fee payment: 8

LAPS Lapse due to unpaid annual fee