초록 ▼

When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (positio

When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.

대표청구항 ▼

[ What is claimed is:] [1.] A robot system for controlling a robot on the basis of an instruction from an operator, comprising:first reception means for receiving the instruction from the operator;second reception means for receiving external information;third reception means for receiving a state q

[ What is claimed is:] [1.] A robot system for controlling a robot on the basis of an instruction from an operator, comprising:first reception means for receiving the instruction from the operator;second reception means for receiving external information;third reception means for receiving a state quantity of the robot;base controller for generating an action schedule command for the robot using data received by said first reception means as a target value and data received by said second and third reception means as first state feedback variables;robot controller for generating a drive command for driving the robot on the basis of the action schedule command generated by said base controller;sensing means for sensing the state quantity of the robot; anddetermination means for determining a coverage of the action schedule command by comparing the state quantity sensed by said sensing means and the drive command value directed by said robot controller,wherein command values of said base controller and said robot controller are distributed and controlled in accordance with a determination result of said determination means.