中文摘要：

针对四轴机器人的控制问题，提出了一种基于LPC 2119和LPC 2104的多处理器并行处理的设计方案。首先，介绍了该机器人的意义和应用领域、分布式并行架构的组成，以及各部分硬件结构的设计。针对机器人的行走问题，提出了一种基于时序的路径记忆算法TPMA（Time Based Path Memory Algorithm），并对算法进行了详细描述。然后，对机器人的主要功能模块做了较详细的说明，包括语音控制、红外避障控制及无线控制的实现方法，最后介绍了软件系统的设计并给出了主要程序流程。

英文摘要：

Aimed at the control of four-axletree robot,this paper provides a project as to multiprocessor＇s parallel processing which is based on LPC 2119 and LPC 2104.Firstly,it introduces the meaning and application field of the robot,the constitution of the distributed structure and the design of parts of the hardware.Secondly,this paper suggests and details a timebased path memory algorithm to solve the track problem.Then,particularize the function of the main modules including voice control,infrared detector control and actualization of wireless communication.Finally,this paper describes the design of the software system and shows the major flow chart.