MOTION CONTROL PROGRAM, MOTION CONTROL METHOD, AND MOTION CONTROL DEVICE

• Main Authors: YANG, Boo-Ho, KIM, Jsoon, PAN, Ziyuan
• Format: Patent
• Language: English; French; German
• Published: 17.01.2024
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

A motion control program is provided which causes a computer to function as: a reception unit on a non-real-time OS that receives a control command indicating an operation that should be performed by a control target device over a plurality of motion control cycles, from a user-created program controlling the control target device, and stores control command information indicating a content of the received control command in a control command channel that is reserved in a shared memory referable from the non-real-time OS and a real-time OS; a storage unit on the real-time OS that obtains the control command information from the control command channel and stores the obtained control command information in a FIFO queue; a command processing unit on the real-time OS that retrieves the control command information from the FIFO queue and passes it to a fixed-cycle processing unit; and the fixed-cycle processing unit on the real-time OS that transmits an interpolation command to the control target device for each motion control cycle, based on the control command information which is passed from the command processing unit.