Robot system, control method, and recording medium
First Claim
1. A robot system for controlling a robot on the basis of an instruction from an operator, comprising:
- first reception means for receiving the instruction from the operator;
second reception means for receiving external information;
third reception means for receiving a state quantity of the robot;
base controller for generating an action schedule command for the robot using data received by said first reception means as a target value and data received by said second and third reception means as first state feedback variables;
robot controller for generating a drive command for driving the robot on the basis of the action schedule command generated by said base controller;
sensing means for sensing the state quantity of the robot; and
determination means for determining a coverage of the action schedule command by comparing the state quantity sensed by said sensing means and the drive command value directed by said robot controller,wherein command values of said base controller and said robot controller are distributed and controlled in accordance with a determination result of said determination means.
1 Assignment
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Accused Products
Abstract
When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.
38 Citations
24 Claims
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1. A robot system for controlling a robot on the basis of an instruction from an operator, comprising:
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first reception means for receiving the instruction from the operator; second reception means for receiving external information; third reception means for receiving a state quantity of the robot; base controller for generating an action schedule command for the robot using data received by said first reception means as a target value and data received by said second and third reception means as first state feedback variables; robot controller for generating a drive command for driving the robot on the basis of the action schedule command generated by said base controller; sensing means for sensing the state quantity of the robot; and determination means for determining a coverage of the action schedule command by comparing the state quantity sensed by said sensing means and the drive command value directed by said robot controller, wherein command values of said base controller and said robot controller are distributed and controlled in accordance with a determination result of said determination means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of controlling a robot system for controlling a robot on the basis of an instruction from an operator, comprising:
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the first reception step of receiving the instruction from the operator; the second reception step of receiving external information; the third reception step of receiving a state quantity of the robot; the first control step of generating an action schedule command for the robot using data received by in the first reception step as a target value and data received in the second and third reception steps as first state feedback variables; the second control step of generating a drive command for driving the robot on the basis of the action schedule command generated in the first control step; the sensing step of sensing the state quantity of the robot; and the determination step of determining a coverage of the action schedule command by comparing the state quantity sensed in the sensing step and the drive command value directed in the second control step, wherein command values of the first and second control steps are distributed and controlled in accordance with a determination result in the determination step. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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24. A computer-readable recording medium comprising a program that makes a computer implement:
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first reception means for receiving the instruction from the operator; second reception means for receiving external information; third reception means for receiving a state quantity of the robot; base controller for generating an action schedule command for the robot using data received by said first reception means as a target value and data received by said second and third reception means as first state feedback variables; robot controller for generating a drive command for driving the robot on the basis of the action schedule command generated by said base controller; sensing means for sensing the state quantity of the robot; and determination means for determining a coverage of the action schedule command by comparing the state quantity sensed by said sensing means and the drive command value directed by said robot controller, wherein said program makes the computer distribute and control command values of said base controller and said robot controller in accordance with a determination result of said determination means.
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Specification