초록

A system for controlling a mechanical manipulator in a laboratory environment employs a system of taught motions, attribute operators and procedure rules to simplify the programming task for scientists or engineers skilled in their own fields and not robotics.

대표청구항 ▼

A method for controlling a mechanical manipulator using a controller, the method comprising: storing in the controller a procedure which includes an ordered sequence of motions, each motion including an ordered sequence of positions, each position including coordinates which define a location relati

A method for controlling a mechanical manipulator using a controller, the method comprising: storing in the controller a procedure which includes an ordered sequence of motions, each motion including an ordered sequence of positions, each position including coordinates which define a location relative to each axis of movement for the mechanical manipulator, each of said procedure, motions, positions and coordinates defining an attribute level; storing a first and a second attribute operator, said two attribute operators pertaining to different attribute levels and affecting two or more attribute levels, said first attribute operator having a higher rank than the second according to a predetermined ranking rule based on a ranking of the attribute levels; comparing the attribute operators stored and selecting the attribute operator having a higher rank from a pair of attribute operators when the pair have conflicting influence on the procedure; and executing the stored procedure according to the stored attribute operators, except for any non-selected attribute operator when the selecting step occurs.