Program executing method, system and program processing unit for robot

An robot system comprising a command unit for issuing a command to a robot, a storage for storing information, an input unit for inputting information from the outside to the storage, a processing unit for executing a program, and an actuator that operates with a control signal from the processing unit, wherein:

• the processing unit includes a program processing unit for executing a program inputted from the outside;
• the program includes a command for the actuator;
• the command may include one or more parameters for designating the speed, distance and/ or count;
• the storage includes at least an area for storing the program, an area for storing command rejection rules for rejecting execution of commands and/ or command change rules for changing commands, and an area for storing source information of the program;
• the command rejection rule includes a command to be rejected and conditions for judging whether or not to reject the command;
• the command change rule includes a command to be replaced or modified, conditions for judging whether or not to change the command, and an alternative command;
• and
• the conditions include conditions concerning at least one selected from the source information of the program, the command and its parameters;
• for executing a command in the program, the robot system performing the procedural steps of:
• searching for a command rejection rule and/ or command change rule corresponding to the command;
• if the rule is detected, retrieving the source information of the active program from the storage;
• judging conditions included in the command rejection rule and/ or command change rule based on the source information;
• dismissing the command or executes the alternative command in the command change rule when the conditions are satisfied;
• and
• executing the command when the conditions are not satisfied.

A program processing unit comprising a command unit for issuing a command to a robot, a storage for storing information, an input unit for inputting information from the outside to the storage, a processing unit for executing a program, and an actuator that operates with a control signal from the processing unit, wherein the processing unit includes:

• a program interpreter for reading a program from the storage and extracting commands;
• a command rejection means for judging whether or not to reject a command and dismissing the command when it is determined to be rejected and/ or command change means for judging whether or not to change a command and replacing at least a part of the command by an alternative command when it is determined to be changed;
• a command execution means for executing the command or alternative command;
• and wherein:
• the command rejection means and/ or command change means searches for a command rejection rule including at least conditions for judging whether or not to reject the command and/ or command change rule including at least conditions for judging whether or not to change the command and the alternative command for replacing at least a part of the command corresponding to the command;
• if the rule is detected, retrieves source information of the active program from the storage;
• judges conditions included in the command rejection rule and/ or command change rule using the information;
• dismisses the command or sends the alternative command in the command change rule to the command execution means when the conditions are satisfied;
• and sends the command to the command execution means when the conditions are not satisfied.