Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
1999-11-10
2001-03-27
Masih, Karen (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568100, C318S568200, C318S567000, C901S006000, C901S015000
Reexamination Certificate
active
06208104
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to a novel robot control unit into which a user can easily assemble an application program for a robot body having a plurality of joints.
2. Description of the Related Art
Conventional robot control units consist of systems unified robot controlling means with man-machine interface means. Thus, it is difficult for a robot body to execute various functions that are suitable for a user. Even if the robot body can execute some functions, the functions would be limited by a manufacturer of the conventional robot control unit for the robot body. There is also a problem that many steps and long term are necessary for development and achievement of the functions.
In addition, connecting personal computers via a serial circuit with an interface such as an RS232C can achieve only limited functions that are suitable for the user, because, for example a communication rate and a data volume are limited.
SUMMARY OF THE INVENTION
Therefore, an object of this invention is to provide a robot control unit which can easily achieve various functions that are suitable for a user.
This invention is a robot control unit for controlling a robot body with a plurality of joints, comprising; a servo unit for respectively driving the joints of the robot body, in response to an instructing signal: a common storage device for storing instruction data: a first processing circuit for reading the instruction data stored in the common storage device, and for sending the data to the servo-unit as the instructing signal: inputting means for making the instruction data for respectively driving the joints of the robot body by an inputting operation: and a second processing circuit for causing the instruction data from the inputting means to be stored into the common storage device.
One feature of the invention is connecting a real time processing element for controlling the robot body with a man-machine interface element for operating the robot body through the common storage device which can be used for a high-speed data communication (for example, 100M byte/sec). To put it simply, the robot control unit is constructed in a unified manner. Thus, it enables for application programs that can run with a general OS (Operating System) such as a WINDOWS to easily refer to data relating to the robot. In addition, it may be more convenient for end users to use the unit by using some graphical user interfaces or communication functions together. This invention may also provide some functions for easily constructing necessary software. Therefore, this invention can solve the problems in the prior art.
This invention also enables to control a plurality of robots and to monitor moving states of the robots, for example by connecting a robot controlling computer as a controlling means to a robot operating computer as an operating means and by transferring data between any two of the two computers and a common storage device. In addition, it may be connected to a remote operating computer with a network communication server, so that the remote-operating computer can achieve the same functions as the robot operating computer.
A robot controlling computer may consist of a robot controlling part for actually controlling a robot, and a data inputting-outputting (input-output) part (first processing circuit) for inputting and outputting data between the robot controlling part and a common storage device. A robot operating computer may consist of a man-machine interface (inputting means, second processing circuit), a data inputting-outputting part which can input and output data between a group of application software for monitoring movement of robot and the common storage device, and a network communication server which can input and output data between a computer connected to a network and the common storage device.
Alternatively, the robot control unit may consist of; a robot controlling computer as a first processing circuit or a controlling means, for a real time processing for respectively driving the joints of the robot body: a robot operating computer as a second processing circuit or an operating means, for serving as a man-machine interface for operating and monitoring the robot body: a common storage device such as a dual-port memory device which can be accessed at any time and at a high-rate, for example greater than 100M byte/s by each of the two computers: a servo unit: and inputting means for inputting instruction data such as a teaching pendant.
Both of the first and second processing circuits can read the instruction data from the common storage device, and write (store) the instruction data into the common storage device. Thus, a simpler construction and a higher processing speed can be achieved compared with the conventional construction where the first and second processing circuits have storage devices respectively.
Another feature of the invention is that the robot control unit further comprises: a servo communication interface connected to the servo unit, a first bus interface connected to the first processing circuit, and a second bus interface connected to the first bus interface, and is characterized that: the first processing circuit reads the instruction data stored in the common storage device, and sends the data to the servo-unit as the instructing signal through the servo communication interface, and the second processing circuit causes the instruction data from the inputting means to be stored into the common storage device through the second bus interface and the first bus interface.
According to the feature, a simpler construction can be achieved. A higher processing speed can be also achieved by the servo communication interface. The instruction data herein are for example, commands for respectively driving the joints of the robot body.
It is preferable that a robot controlling computer can output robot moving data and robot operating data into the common storage device at real time, and that a robot operating computer can switch the robot operating data. Thus, the robot operating computer can execute a robot operation. The robot moving data herein are detected data corresponding to moving state of the robot, for example, encoder values of the joints of the robot body, transformation matrix, reference values for the joints, speed reference values of the joint, present speeds of the joints, present current values of the joints, running programs, step numbers, or information of errors. The robot operating data herein are instruction data including commands necessary for operating the robot, for example, data for teaching/repeating, data for holding/running, data for a cycle start, data for a motor source, data for a error reset, or data for an emergency stop. The robot moving data and the robot operating data are inputted into or calculated inside the robot controlling computer.
Another feature of the invention is that the robot control unit further comprises; a first network communication interface connected to the second processing circuit, and network operating means having: network inputting means for making the instruction data for respectively driving the joints of the robot body by an inputting operation, a second network communication interface connected to the first network communication interface, and a third processing circuit for providing the instruction data from the network inputting means to the second processing circuit through the second network communication interface and the first network communication interface, and wherein; the second processing circuit causes the instruction data from the first network communication interface to be stored into the common storage device through the second bus interface and the first bus interface.
According to the feature, the second processing circuit as an operating means is connected to the third processing circuit or circuits of one or more said network operating means forming a network. The third processing circuit or circuits can write the instruction data into t
Koyama Masataka
Onoue Kazuhiko
Shimomura Nobuyasu
Ueno Takahiro
Kawasaki Jukogyo Kabushiki Kaisha
Masih Karen
Oliff & Berridg,e PLC
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