本文对机器人控制器运动学求逆运动学关节角的运算进行了并行算法研究，并在共享存储器结构的三台及四台Z80-Ⅱ型单板机构成的多机系统上实现了这一算法。
This paper studies the problem of using parallel algorithms to calculate the inverse kinematic joint angles , which was realized in a multimicroprocessors system for the robot controller .
三台四