초록 ▼

A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program o

A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

대표청구항 ▼

1. A control system suitable for controlling automation equipment of different electromechanical configurations, the control system comprising: an automation equipment-independent computer unit comprising a first digital processor for running an operator interface module, the automation equipment-in

1. A control system suitable for controlling automation equipment of different electromechanical configurations, the control system comprising: an automation equipment-independent computer unit comprising a first digital processor for running an operator interface module, the automation equipment-independent computer unit configured to create a move command; andan equipment-specific controller unit operably linked to an automation equipment component, the equipment-specific controller unit comprising a move module configured to translate the move command for the automation equipment component, wherein the equipment-specific controller unit is in communication with the automation equipment-independent computer unit. 2. The control system of claim 1 wherein the automation equipment component comprises a mechanical joint and a sensor, and wherein the equipment-specific controller unit translates the move command by receiving a position signal from the sensor and calculates a different position corresponding to the move command. 3. The control system of claim 1 wherein the sensor of the automation equipment component is a position feedback detector. 4. The control system of claim 1 wherein the sensor of the automation equipment component is a digital camera. 5. The control system of claim 1 wherein the automation equipment component further comprises a servo motor and wherein the equipment-specific controller unit translates the move command by calculating an actuation signal for the servo motor. 6. The control system of claim 1 wherein the automation equipment-independent computer unit generates the move command with a program running under a general purpose operating system. 7. The control system of claim 1 further comprising a display connected to the automation equipment-independent computer unit, the display configured to present data to a user entering move commands. 8. The control system of claim 1 further comprising a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit and pass the plurality of move commands in sequential order to the equipment-specific controller unit. 9. A method for controlling, automation equipment of different electromechanical configurations, the method comprising: receiving, from an automation equipment-independent computer unit comprising a digital processor, a move command, wherein the move command originated from an operator interface of the automation equipment-independent computer unit; andtranslating the move command into an automation equipment command;transmitting, from an equipment-specific controller unit to an automation equipment component via a communications channel, the automation equipment command. 10. The method of claim 9 wherein the automation equipment component comprises a mechanical joint and a sensor, the method further comprising: receiving a position signal from the sensor; andcalculating a different position corresponding to the move command. 11. The method of claim 10 wherein the sensor of the automation equipment component is a position feedback detector. 12. The method of claim 10 wherein the sensor of the automation equipment component is a digital camera. 13. The method of claim 9 wherein the automation equipment component further comprises a servo motor, the method further comprising calculating, by the equipment-specific controller unit, an actuation signal for the servo motor. 14. The method of claim 9 wherein the automation equipment-independent computer unit further comprises a display, the display configured to present data to a user entering move commands. 15. The method of claim 9 wherein the receiving is performed by a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit, the method further comprising passing the plurality of move commands in sequential order to the equipment-specific controller unit. 16. A computer readable hardware device storing instructions configured to, when executed by a computing device, cause the computing device to perform operations for controlling automation equipment of different electromechanical configurations, the operations comprising: receiving, from an automation equipment-independent computer unit comprising a digital processor, a move command, wherein the move command originated from an operator interface of the automation equipment-independent computer unit;translating the move command into an automation equipment command; andtransmitting, from an equipment-specific controller unit to an automation equipment component via a communications channel, the automation equipment command. 17. The computer readable hardware device of claim 16 wherein the automation equipment component comprises a mechanical joint and a sensor, the operations further comprising: receiving a position signal from the sensor; andcalculating a different position corresponding to the move command. 18. The computer readable hardware device of claim 17 wherein the sensor of the automation equipment component is a digital camera. 19. The computer readable hardware device of claim 16 wherein the automation equipment component further comprises a servo motor, the operations further comprising calculating, by the equipment-specific controller unit, an actuation signal for the servo motor. 20. The computer readable hardware device of claim 16 wherein the receiving is performed by a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit, the method further comprising passing the plurality of move commands in sequential order to the equipment-specific controller unit.