ROBOT CONTROL SYSTEM AND CONTROL DEVICE

To provide a technique capable of flexibly coping with the diversity of robots.SOLUTION: A control system for controlling a robot in accordance with a control program code includes: a control device that generates a control command for the robot in accordance with intermediate expressions sequential...

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Main Authors SAEED ALHOMSHI, DIEGO ESCUDERO-RODRIGO, FERRAN CARLAS, TAMURA YOSHIHIDE, YASUDA KEI, MAJID KASAWAT, ANTONIO PENALVER, RAFFAELE VITO
Format Patent
LanguageEnglish
Japanese
Published 10.08.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
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
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Summary:To provide a technique capable of flexibly coping with the diversity of robots.SOLUTION: A control system for controlling a robot in accordance with a control program code includes: a control device that generates a control command for the robot in accordance with intermediate expressions sequentially generated by interpreting control program codes; and a development assistance device capable of communicating with the control device. The control device comprises: a first generation module configured to generate an internal command including a series of instructions corresponding to the intermediate expressions; a second generation module configured to generate, for each control cycle, a command value for one or more actuators constituting the robot, in accordance with the internal command; and a communication module configured to transmit the command value to the robot as the control command. The development assistance device is configured to be able to change at least one of the second generation module and the communication module in accordance with a designation regarding the robot.SELECTED DRAWING: Figure 1 【課題】ロボットの多様性に対して柔軟に対応できる技術を提供する。【解決手段】制御プログラムコードに従ってロボットを制御する制御システムは、制御プログラムコードを解釈することで逐次生成される中間表現に従ってロボットに対する制御指令を生成する制御装置と、制御装置と通信可能な開発支援装置とを含む。制御装置は、中間表現に対応する一連の命令からなる内部コマンドを生成する第１の生成モジュールと、内部コマンドに従って、ロボットを構成する１または複数のアクチュエータに対する指令値を制御周期毎に生成する第２の生成モジュールと、指令値を制御指令としてロボットへ送信する通信モジュールとを含む。開発支援装置は、ロボットに関する指定に応じて、第２の生成モジュールおよび通信モジュールの少なくとも一方を変更できるように構成されている。【選択図】図１
Bibliography:Application Number: JP20220013208