Robot control system and robot control method
First Claim
1. A robot control system for controlling motions of a robot which comprise a combination of a plurality of hardware components, comprising:
- a first control unit for performing a process which does not depend upon hardware configuration information of the robot;
a second control unit for performing a process which depends upon the hardware configuration information of the robot; and
a communication unit for providing communication between said first and second control units.
1 Assignment
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Accused Products
Abstract
To control articulated robots by dynamically modifying a combination of a hardware-dependent middleware layer and a hardware-independent application layer. An interface and a database for semantically performing operation are prepared between a middleware layer which depends upon the hardware configuration of a robot and an application layer which does not depend upon the hardware configuration, thereby making it possible to always guarantee normal operation even if a combination of the middleware and the application which is to be introduced onto the robot is modified. The application can acquire appropriate input data via the middleware, and can issue an appropriate command.
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Citations
33 Claims
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1. A robot control system for controlling motions of a robot which comprise a combination of a plurality of hardware components, comprising:
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a first control unit for performing a process which does not depend upon hardware configuration information of the robot;
a second control unit for performing a process which depends upon the hardware configuration information of the robot; and
a communication unit for providing communication between said first and second control units. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
a target record in the information database is registered to transfer target information from said second control unit to said first control unit. -
10. A robot control system according to claim 1, wherein said communication unit comprises a command database in which said first control unit semantically designates a command to be issued to said second control unit, and
said first control unit uses the command database to semantically select a command. -
11. A robot control system according to claim 1, wherein said communication unit comprises a feedback interface which aids in notifying said second control unit of the recognition result of said first control unit, and which aids in notifying said first control unit of the relationship between the recognition result and the behavior feasible in said second control unit.
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12. A robot control system according to claim 1, wherein said first control unit and said second control unit are structured so as to be capable of being independently handled.
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13. A robot control system according to claim 1, wherein said communication unit notifies said first control unit of a system event detected by said second control unit.
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14. A robot control system according to claim 1, wherein said communication unit comprises:
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means for notifying said first control unit of a shutdown factor which is detected by said second control unit; and
means for notifying said second control unit of a resume condition with respect to the shutdown which is set by said first control unit.
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15. A circuit according to claim 13, wherein said communication unit further includes means for notifying said first control unit of a recommended resume condition which is set by said second control unit.
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16. A robot control method for controlling motions of a robot which comprise a combination of a plurality of hardware components using a first control module for performing a process which does not depend upon hardware configuration information of the robot, and a second control module for performing a process which depends upon the hardware configuration information of the robot,
said robot control method comprising a communication step of providing communication between the first and second control modules.
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31. A robot control system which is configured by an object-oriented program, comprising:
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an application object for executing a process which does not depend upon a hardware configuration of a robot;
a middleware object for executing a process which depends upon the hardware configuration of the robot;
an information database registered with information which is used for said middleware object and which corresponds to a semantic command from said application object; and
object control means for controlling communication between said application object and said middleware object on the basis of said information database. - View Dependent Claims (32, 33)
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Specification