초록 ▼

A robot system comprising a main computer having a robot language incorporated therein and having the functions of preparing, executing and storing programs and a plurality of slave computers connected via a high speed data bus to the main computer. Task programs are prepared by using the robot lang

A robot system comprising a main computer having a robot language incorporated therein and having the functions of preparing, executing and storing programs and a plurality of slave computers connected via a high speed data bus to the main computer. Task programs are prepared by using the robot language and then executed on the main computer. The task programs inherent to the respective functions, such as trajectory control for the manipulator, vision control and feature extraction of objects are executed in each of the slave computers by commands issued from the main computer to the respective slave computers for each operational unit.

대표청구항 ▼

A distributed robot control system comprising: (a) a main computer means for (i) preparing a centralized task program, (ii) executing said centralized task program, and (iii) supplying command signals representing said centralized task program; (b) at least one manipulator control slave computer mea

A distributed robot control system comprising: (a) a main computer means for (i) preparing a centralized task program, (ii) executing said centralized task program, and (iii) supplying command signals representing said centralized task program; (b) at least one manipulator control slave computer means for individually, concurrently, and parallelly controlling parts of a manipulator; (c) at least one vision control slave computer means for individually, concurrently, and parallelly controlling a vision sensor for supplying images; (d) a high speed system bus, said bus being connected to each computer means; (e) wherein said at least one manipulator control slave computer means comprises: a slave controller means for individually calculating trajectory positions of one or more arms of said manipulator and desired angle positions of one or more joints of said manipulator from the control signals; a plurality of position controller means for controlling the arm and joint positions of said manipulator in accordance with the trajectory and angle positions calculated by said slave controller means; and a local command and data bus connected to said slave controller means and said plurality of position controller means; and (f) wherein said at least one vision control slave computer means comprises: a slave vision controller means for (i) receiving said command signals and (ii) producing control signals based on said command signals; an image processing controller means for (i) receiving said control signals, (ii) processing images from said vision sensor, and (iii) recognizing a target in the images in accordance with said control signals; and a data bus connected to said slave vision controller means and said image processing controller means.