Industrial robots controller

• US 5,889,924 A
• Filed: 09/16/1996
• Issued: 03/30/1999
• Est. Priority Date: 03/23/1994
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Okabayashi, Kazuo, Sakanashi, Kouji
• Primary Examiner(s): Hafiz, Tariq R.
• Application Number:
  US08/714,141
• Time in Patent Office: 925 Days
• Field of Search: 395/80, 395/83
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation
• CPC Class Codes: G05B 2219/39121 Two manipulators operate on same object
• CPC Class Codes: G05B 2219/39122 Follower, slave mirrors leader, master
• CPC Class Codes: G05B 2219/40307 Two, dual arm robot, arm used synchronously, or each separately, asynchronously
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A controller provides effective control of a plurality of control objects performing various cooperative and competitive jobs. The controller includes a first system execution section for storing a set of commands which describe the operation of a plurality of control objects as a first cooperative job and for executing the commands. A second system execution section is also provided for storing additional commands describing the operation of at least one control object other that the plurality of control objects governed by the first execution system and for executing the additional commands. A third system execution section which is included in the controller permits storage of activation commands for activating the first and second system execution sections and allows asynchronous and simultaneous execution of the commands stored in each. The first and second system execution sections have a master/slave relation with one another, one operating as a slave and a remaining one, as a master. The system execution section which operates as the slave utilizes output of the master as a reference to correct execution of the stored commands of its own.

Claims

1. A machine controller for controlling control objects, comprising:

a first system execution means for storing first commands describing operations of at least two control objects, of said control objects for a first cooperative job and for effecting execution of said first commands of said first cooperative job;

a second system execution means for storing second commands describing operations of a first control object of said at least two control objects governed by said first system execution means and at least one other control object, of said control objects and other than said at least two control objects, for a second cooperative job and for effecting execution of said second commands of said second cooperative job;

a third system execution means for storing third commands for starting said first system execution means effecting execution of said first commands and said second system execution means effecting execution of said second commands, and for effecting execution of said third commands asynchronously and simultaneously;

said first and second system execution means having a master-slave relation with one another wherein one of said first and second system execution means operates as a slave and another one of said first and second system execution means operates as a master; and

said one of said first and second system execution means operating as said slave using an output of said another one of said first and second system execution means as a reference to correct execution of a respective one of said first and second commands stored by said one of said first and second system execution means.

2. The machine controller according to claim 1, further comprising:

a conversion means for effecting bisymmetrical operations of said control objects, wherein a first operation of said bisymmetrical operations is the first cooperative job, a second operation of said bisymmetrical operations is said second cooperative job, and said first cooperative job includes first position data for at least a second control object of said at least two control objects governed by said first system execution means; and

said conversion means including means for converting said first position data into position data for effecting operation of said at least one other control object for said second cooperative job that is bisymmetrical to operation of said at least a second control object of said first cooperative job.

3. The machine controller according to claim 1, further comprising an operation command output memory for temporarily storing an operation command outputted from at least one of said first, second and third system execution means.

4. The machine controller according to claim 3, wherein said master/slave relation is designated by said third system execution means.

5. The machine controller according to claim 4, wherein said another one of said first and second system execution means operating as said master stores operation commands in said operation command output memory and said one of said first and second system execution means operating as said slave reads said operation commands stored in said operation command area by said another one of said first and second system execution means to effect said correction of said respective one of said first and second commands to compensate for movement of said first control object effected by said operation commands stored in said operation command area by said another one of said first and second system execution means.

6. A machine controller according to claim 5 wherein a means capable of designating and switching an operation object job for preparing and editing said cooperative job is provided so that a position designated by a certain cooperative job can be used for the preparation and addition of any other job.