ROBOT SYSTEM CONTROL METHOD AND A DEVICE THEREFOR

• US 20130030568A1
• Filed: 04/23/2010
• Published: 01/31/2013
• Est. Priority Date: 04/23/2010
• Status: Abandoned Application

• Current Assignee: Samsung Heavy Industries Company Limited (Samsung Group)
• Original Assignee: Samsung Heavy Industries Company Limited (Samsung Group)
• Inventors: Kim, Jae Hoon, Yoon, Sung Min, Kim, Min Su, Park, Tae Jin, Ha, Young Youl, Park, Sang Dong
• Application Number:
  US13/576,790
• Publication Number:
  US 20130030568A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 2219/33342 Master slave, supervisor, front end and slave processor, hierarchical structure

Abstract

The present invention discloses a method of controlling a robot system and an apparatus thereof. The method of controlling a robot system in accordance with an embodiment of the present invention can include: initializing the master controller by use of a boot loader equipped in the robot system; executing a runtime by loading a runtime execution code stored in a storage space of the master controller; and loading and executing an application program stored in the storage space of the master controller. With an embodiment of the present invention, it becomes possible to manage the application program more efficiently for realizing the functions of the robot system.

Claims

1. An apparatus for controlling a robot system configured to control the robot system by use of a master controller embedded in the robot system, wherein the master controller comprises:

a runtime unit;

a storage unit configured to store a runtime code for executing a runtime, a runtime symbol table, and an application code for carrying out designated functions of the robot system;

an operation unit configured to carry out an operation for executing the runtime and control a flow of signals for control of the robot system; and

a communication unit configured to communicate with a host computer of the robot system, and

wherein the runtime unit comprises;

an application loader module configured to load the application code; and

an application program interface module configured to execute the loaded application code.

2. The apparatus of claim 1, wherein the runtime unit further comprises a controller shape management module configured to recognize a slave controller embedded in the robot system and dynamically manage a configuration of system information of the robot system.

3. The apparatus of claim 1, wherein the runtime unit further comprises a data logger module configured to generate log data from operation of the runtime.

4. The apparatus of claim 1, wherein the application program interface module is configured to execute the application code by use of a system call of an operating system of the robot system, and a parameter referenced for execution of the application code is transferred using a registry of the apparatus for controlling a robot system.

5. A method of controlling a robot system by use of a master controller embedded in the robot system, the method comprising:

initializing the master controller by use of a boot loader equipped in the robot system;

executing a runtime by loading a runtime execution code stored in a storage space of the master controller; and

loading and executing an application program stored in the storage space of the master controller.

6. The method of claim 5, further comprising, after executing the runtime, generating log data from operation of the master controller.

7. The method of claim 5, wherein the robot system further comprises a slave controller, and

further comprising, after executing the runtime, dynamically managing the slave controller and a configuration of system information.

8. The method of claim 5, wherein in the step of loading and executing the application program, a system call of an operating system of the robot system is used, and a parameter for execution of the application program is transferred using a registry of the master controller.