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Robot controlling device

  • US 8,744,625 B2
  • Filed: 10/07/2011
  • Issued: 06/03/2014
  • Est. Priority Date: 11/05/2010
  • Status: Active Grant
First Claim
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1. A robot controlling device which outputs a command value of a joint angle to each of a plurality of driving units which drive joints of a multi joint robot main body, to control driving operations of the respective driving units, the robot controlling device comprising:

  • a shared memory; and

    a first processing unit and a second processing unit accessibly connected to the shared memory,wherein the first processing unit performs track calculation processing which includes calculating operation command data indicating a series of command values to be output to the respective driving units, on the basis of a command to operate the multi-joint robot main body to a desired position posture, and storing the operation command data as calculation results in the shared memory; and

    the second processing unit performs synchronous processing which includes acquiring the operation command data stored in the shared memory, and synchronously outputting the command values to the respective driving units at predetermined time intervals,wherein the shared memory stores commands each including;

    an operation describing portion where the command to operate the multi-joint robot main body to the desired position posture is described;

    a calculation start condition describing portion where calculation start conditions to calculate the operation command data on the basis of the command described in the operation describing portion are described; and

    an operation start condition describing portion where operation start conditions to operate the respective driving units are described,wherein the first processing unit comprises;

    a calculation start condition determining unit which refers to the calculation start condition describing portion of each of the commands stored in the shared memory and acquires, from the shared memory, the command described in the operation describing portion of the command satisfying the calculation start conditions; and

    a calculating unit which calculates the operation command data on the basis of the command acquired by the calculation start condition determining unit, to store the operation command data in the shared memory;

    wherein the second processing unit comprises;

    an operation start condition determining unit which refers to the operation start condition describing portion of each of the commands stored in the shared memory and acquires, from the shared memory, the operation command data corresponding to the command satisfying the operation start conditions among pieces of the operation command data stored in the shared memory; and

    a transmitting unit which acquires the command value corresponding to each of the driving units from the operation command data acquired by the operation start condition determining unit, to synchronously output the command values to the respective driving units at predetermined time intervals.

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