Control method of robot system and apparatus for realizing the same

• US 4,942,512 A
• Filed: 05/19/1988
• Issued: 07/17/1990
• Est. Priority Date: 05/21/1987
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Kohno, Yoshiaki
• Primary Examiner(s): Lastova, John R.
• Application Number:
  US07/196,063
• Time in Patent Office: 789 Days
• Field of Search: 364/131-133, 364/138, 364/468, 364/478, 364/513, 364/200, 364/900
• US Class Current: 700/4
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 2219/1114 Address by module name
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

When a robot system has a program module group within a central control unit for performing required program processing, the associated portions of the robot, and a plurality of peripheral control modules for controlling the associated portions of the robot, a communication module is provided to perform communication between the modules. In the system there is provided with a queue buffer for sequentially storing the present status information, a source module name, and the message. The communication module monitors transmission from the respective module, stores a message in the queue buffer, forms a transmit request list, sequentially receives the destination module name and the message in accordance with a reception procedure of the source module, and stores the source name module and the message in the queue buffer in accordance with the destination module. Subsequently, the communciation module sequentially searches the message to be transmitted in a queue buffer, and checks the status of the destination modules. If the status of a destination module is set in an enabled state, the message is transmitted in accordance with a transmission procedure of the destination module. If not, the message is left in the queue list and will be transmitted in the next transmission cycle.

Claims

1. A method for controlling a robot system having a commander and a plurality of modules, comprising the steps of:

generating one or more requests to transmit one or more messages from a source module to a destination module;

inputting the transmission requests to the commander;

placing the transmission requests into a sequential list of transmission requests;

writing the messages into queue buffers, corresponding to the destination modules, until the sequential list is depleted; and

transmitting one messages from each of the queue buffers to the corresponding destination modules in a predetermined order.

2. A method according to claim 1, further including the step, after the step of transmitting, of:

repeating the steps of generating, inputting, placing, writing, and transmitting.

3. A method according to claim 2, further including:

after the step of placing, generating a status list identifying the status of each queue buffer as either containing at least one message or containing no message; and

during the step of writing, checking the status list and placing messages in queue buffers, which already contain one or more messages, in sequential order.

4. A method according to claim 1, wherein the step of generating is performed in accordance with a work procedure for the robot system.

5. A method according to claim 1, wherein the step of transmitting includes:

checking whether a destination module is busy; and

transmitting the message from the queue buffer corresponding to the destination module only if the destination module is not busy.

6. A robot system, comprising:

a plurality of modules, each module capable of acting as a source module of a message and as a destination module of a message, each module including means for generating transmission requests and for generating messages to be sent to other modules, and

a commander in communication with the plurality of modules, including;

means for receiving the transmission requests and messages from the modules,

a sequential list memory for storing the received transmission requests in sequential order,

a plurality of queue buffers, corresponding to the plurality of modules, capable of storing the messages to be sent to particular destination modules in the buffers corresponding to the particular destination modules, and

means for transmitting one messages from each of the queue buffers to the destination modules corresponding to the queue buffers, in a predetermined order.

7. A system according to claim 6, wherein the commander further includes:

means for determining whether a particular queue buffer contains a previous message and, if a queue buffer contains a previous message, for placing a subsequent message in the queue buffer with the previous message, in sequential order.

8. A system according to claim 6, wherein each module further includes means for generating messages in accordance with a work procedure for the robot system.

9. A system according to claim 6, wherein the commander further includes:

means for determining whether a destination module is busy; and

means for transmitting a message to a particular destination module only if the particular destination module is not busy.