提出了一种基于多处理器的分级控制策略，并将其应用于全自主移动机器人控制系统设计上面。

This paper introduced a hierarchical-controlling method based on Multi-processor. The control system based on this method is applied to the mobile robot.

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本文从多处理机系统组织结构入手，根据多关节机器人控制特点，提出了组成机器人分布式计算机控制系统的三种结构。

This paper presents three structures of robot's distributed computer control system based on multi-processor structure and multi-joint, robot control.

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