초록 ▼

In a robot motion control system a modular sensor data preprocessing unit is provided between the sensors and a motion control unit. Modules in the data preprocessing unit are activated in a temporal sequence in accordance with the kinds of sensors involved and the technological task to be performed

In a robot motion control system a modular sensor data preprocessing unit is provided between the sensors and a motion control unit. Modules in the data preprocessing unit are activated in a temporal sequence in accordance with the kinds of sensors involved and the technological task to be performed. The data preprocessing unit comprises a data transfer control circuit, a basic function control circuit and a complex function control circuit, each such circuit including a plurality of independently activatable function modules. For example, the complex function circuit includes a velocity control module and a path correction module.

대표청구항 ▼

In a motion control system for a robot, said system comprising: interface means operatively connected to sensors for receiving and relaying signals from said sensors; position control means, including an interpolation unit, linked to the robot for controlling the motion of said robot along a predete

In a motion control system for a robot, said system comprising: interface means operatively connected to sensors for receiving and relaying signals from said sensors; position control means, including an interpolation unit, linked to the robot for controlling the motion of said robot along a predetermined path; and separate data preprocessing means tied between said interface means and said position control means for feeding signals to said position control means upon processing sensor signals received from said interface means, the improvement wherein said data preprocessing means includes: first memory means for storing incoming sensor generated data; second memory means for storing results of preprocessing operations; data transfer control means servicing the interface means and operatively linked to said first memory means for transferring sensor generated data to said first memory means from said interface means; basic function control means, including a comparison module, operatively connected to said first memory means for performing elementary operations, including comparisons, on sensor generated data from said first memory means, said basic function control means being operatively coupled to said second memory means for storing results of said elementary operations in said second memory means; and complex function control means, including a velocity correction module and a path correction module, operatively connected to said second memory means and to the interpolation unit of the position control means for executing velocity corrections and path corrections for the robot in at least two mutually independent directions by intervening in the operations of said interpolation unit at least partially in accordance with preprocessed data stored in said second memory means by said basic function control means, each of said control means including a plurality of independently functioning modules for performing respective mathematical operations related to robot control, said modules being activated in a temporal sequence predetermined at least in part by a technological task to be performed by said robot.