Method and device for controlling a plurality of manipulators
First Claim
1. Method for controlling a plurality of manipulators with a number of associated control units associated with the manipulators, so that each control unit controls at least one manipulator, the method comprising the steps of:
- providing a portable operating device which accesses several control units for controlling the manipulators;
providing movement-relevant control signals and non-movement-relevant control signals, the movement-relevant control signals being generated by the portable operating device and being directly suitable for a motion control of the manipulators in question;
passing the movement-relevant control signals via a first transmission means in real time to an area of the associated control unit, which area is designed to process motion-relevant control signals in real time;
passing the non-movement-relevant control signals via a second transmission means to an area of the associated control unit, which area is designed for the non-real-time processing of data.
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Accused Products
Abstract
A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.
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Citations
40 Claims
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1. Method for controlling a plurality of manipulators with a number of associated control units associated with the manipulators, so that each control unit controls at least one manipulator, the method comprising the steps of:
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providing a portable operating device which accesses several control units for controlling the manipulators; providing movement-relevant control signals and non-movement-relevant control signals, the movement-relevant control signals being generated by the portable operating device and being directly suitable for a motion control of the manipulators in question; passing the movement-relevant control signals via a first transmission means in real time to an area of the associated control unit, which area is designed to process motion-relevant control signals in real time; passing the non-movement-relevant control signals via a second transmission means to an area of the associated control unit, which area is designed for the non-real-time processing of data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system for controlling a plurality of manipulators, the system comprising:
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a plurality of control units associated with each of the manipulators, so that each control unit controls at least one manipulator, each of the control units have a real-time area set up for execution of a real-time-capable operating system and have a non-real-time area for execution of a non-real-time-capable operating system, said real-time areas of said control units being designed to process movement-relevant control signals, which are sent to the real-time-capable operating system and are directly suitable for a motion control of a respective one of the manipulators, said non-real-time areas perform non-real-time processing of non-movement-relevant control signals; a common operating device connectable with at least one specific control unit for operating the manipulators, said common operating device being designed to operate the manipulators in real time by the movement-relevant control signals, said common operating device being further designed to generate non-movement-relevant control signals. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A method for controlling a plurality of manipulators the method comprising the steps of:
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providing a control unit for each of the plurality of manipulators, each control unit receiving control signals indicating how a respective manipulator should be controlled, each of the control units having a high priority area and a low priority area for processing the control signals, each high priority area processing the control signals with a higher priority than a respective low priority area; providing an operating device receiving instructions from a user; generating control signals at the operating device and sending the control signals to the control units of each of the plurality of manipulators; dividing the control signals into motion-relevant control signals, and non-motion-relevant control signals; sending the motion-relevant control signals to the high priority area of one of the control units; sending the non-motion-relevant control signals to the low priority area of one of the control units. - View Dependent Claims (40)
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Specification