Distribution control apparatus

• US 5,055,755 A
• Filed: 05/29/1990
• Issued: 10/08/1991
• Est. Priority Date: 05/31/1989
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Sumida, Satoshi, Ozawa, Katsuko, Tokuda, Momoyo, Gotoh, Kazuhisa, Suzuki, Tetsuo, Murayama, Tomohiro
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US07/529,571
• Time in Patent Office: 497 Days
• Field of Search: 318/560-646, 364/513, 364/168-173, 364/190-193, 901/3-23, 901/45-48
• US Class Current: 318/568.11
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/33228 Detection of line failure, breakage of transmission, failure of receiver
• CPC Class Codes: G05B 2219/33332 Each processor can execute all programs
• CPC Class Codes: G05B 2219/33339 Controller with lowest operation rate is selected as master
• CPC Class Codes: G05B 2219/34449 Fault tolerant control, task from one microprocessor can be done by other
• CPC Class Codes: G05B 2219/37261 Encoder and potentiometer to detect fault measurement
• CPC Class Codes: G05B 2219/37622 Detect collision, blocking, stall by change, lag in position
• CPC Class Codes: G05B 2219/40232 Lock mechanical arm if servo, cpu error, other arms remain free

Abstract

A plurality of distribution type controllers are provided for corresponding portions of an object to be controlled. One of the controllers, which has the lowest operation rate, executes control items relating to the entire object and the portions of the object, and the other controllers execute control items relating only to the portions of the object.

Claims

1. A distribution control apparatus comprising:

a plurality of distribution controllers provided for each of a plurality of portions of an object to be controlled, wherein each of said distribution controllers executes a program controlling each of said plurality of portions and wherein one of said distributions controllers serves as a main controller and each of said distribution controllers comprises;

control means for performing control operations with respect to said portions;

detecting means for detecting one of said distribution controllers whose program execution time is shortest;

means for causing said one distribution controller detected by said detecting means to serve as the main controller.

2. A distribution control apparatus for an articulated manipulator comprising:

a plurality of drive source controllers for controlling a plurality of drive sources arranged in a plurality of corresponding joints of said articulated manipulator;

a manipulator hand controller, provided at a distal end portion of said articulated manipulator, for controlling an operation of a drive source for said manipulator hand;

a visual sensor for sensing an image of said articulated manipulator;

a visual controller for controlling an operation of said visual sensor, and for transmitting data; and

an input/output controller for controlling the input of data to each of said controllers and the output of data from each of said controllers,

wherein each of said plurality of drive source controllers, said manipulator hand controller, said visual controller and said input/output controller includes program execution means comprising;

locus calculation means for calculating a locus of motion of the articulated manipulator, from a current position to a target position, by means of points set at predetermined intervals;

interpolation calculation means for calculating a variation of an angle of each of said plurality of joints between two adjacent ones of said points obtained by said locus calculation means; and

calculation process shift means for detecting, at every one of a plurality of operation cycles one of said controllers having a lowest program execution rate from among said drive source controllers, said manipulator hand controller, said visual controller, and said input/output controller, and for activating said controller detected to have said lowest program execution rate during a first operation cycle to execute said locus calculation means and said interpolation calculation means and to detect one of said controllers having the lowest program execution rate in an operation cycle following said first operation cycle.

3. The apparatus according to claim 2, wherein said drive source is a servomotor.

4. The apparatus according to claim 2, wherein said drive source is a pulse motor.

5. The apparatus according to claim 2, wherein said drive source is an actuator.

6. The apparatus according to claim 2, wherein said working drive source is a servomotor.

7. The apparatus according to claim 2, wherein said working drive source is a pulse motor.

8. The apparatus according to claim 2, wherein said working drive source is an actuator.

9. The apparatus according to claim 2, wherein said visual sensor is an industrial TV camera.

10. The apparatus according to claim 2, wherein said visual sensor is a solid image-pickup device.

11. The apparatus according to claim 2, wherein said calculation process shift means determines said program execution rate of said controller having said lowest program execution rate, on the basis of a ratio of an operation rate calculation time during said operation cycles to a time in which at least said locus calculation means and said interpolation calculation means are activated.

12. A distribution control apparatus comprising:

a plurality of drive source controllers provided for controlling a plurality of corresponding drive sources in a plurality of corresponding joints of an articulated manipulator and connected to each other through a redundant communication line, each drive source controller comprising a drive control program for controlling a corresponding drive source provided in a corresponding joint, each drive source controller reading out a drive source program for a servomotor provided in each corresponding joint thereby controlling each drive source, each drive source controller including,

fault detecting/malfunctioning part fixing means for informing a first one of said drive source controllers of an occurrence of a fault, in a second drive source or in said drive source controller of said second drive source, and for fixing a movable part of said second drive source or said drive source controller of said second drive source.

fault countermeasure means for supplying drive degree data to said drive source associated with said first one of said drive source controllers to compensate for a stop of operation of said second drive source when informed by said first one of said drive source controllers of the occurrence of the fault,

line-breaking-time data transmitting means for transmitting data through any one of the drive source controllers at a time when said redundant communication line is broken, and

drive degree change means for changing a control drive degree for the drive source to be controlled by the associated drive source controller, in accordance with the type of the drive source;

a manipulator hand controller, provided at a distal end portion of said articulated manipulator, for controlling an operation of a drive source for a said manipulator hand;

a visual sensor for sensing an image of said articulated manipulator;

a visual controller for controlling an operation of said visual sensor, and for transmitting data; and

an input/output controller for controlling the input of data to each of said controllers and the output of data from each of said controllers,

wherein each of said plurality of drive source controllers, said manipulator hand controller, said visual controller and said input/output controller includes;

locus calculation means for calculating a locus of motion of the articulated manipulator, from a current position to a target position, by means of points set at predetermined intervals;

interpolation calculation means for calculating a variation of an angle of each of said plurality of joints between two adjacent ones of said points obtained by said locus calculation means; and

calculation process shift means for detecting, at every one of a plurality of operation cycles one of said controllers having a lowest operation rate from among said drive source controllers, said manipulator hand controller, said visual controller, and said input/output controller, and for activating said controller detected to have the lowest operation rate during a first operation cycle to execute said locus calculation means and said interpolation calculation means and to detect one of said controllers having the lowest operation rate in an operation cycle following said first operation cycle.

13. The apparatus according to claim 12, wherein said drive source is a servomotor.

14. The apparatus according to claim 12, wherein said drive source is a pulse motor.

15. The apparatus according to claim 12, wherein said drive source is an actuator.

16. The apparatus according to claim 12, wherein said working drive source is a servomotor.

17. The apparatus according to claim 12, wherein said working drive source is a pulse motor.

18. The apparatus according to claim 12, wherein said working drive source is an actuator.

19. The apparatus according to claim 12, wherein said visual sensor is an industrial TV camera.

20. The apparatus according to claim 12, wherein said visual sensor is a solid image-pickup device.

21. The apparatus according to claim 12, wherein said calculation process shift means determines an operation rate of said controller having the lowest operation rate on the basis of a ratio of an operation rate calculation tine in said cycle to a time in which at least said locus calculation means and said interpolation calculation means are activated.