Task-based robot control system for multi-tasking

A software-based virtual robot control system for multi-tasking, for implementing a task-based robot control machine function,

• wherein the robot control machine comprises a hard real-time control machine and a soft real-time control machine,
• the soft real-time control machine comprises:
• a communication module responsible for communication with an external module;
• a task file management unit that manages a task file written by a user, which has been input through the communication module;
• a virtual robot control machine management unit controls the creation and extinction of a plurality of Virtual Robot Control Machines (VRCMs) according to a robot control command of the user, which is received through the communication module;
• and
• the plurality of VRCMs whose creation and extinction are controlled in a software way under the control of the virtual robot control machine management unit, wherein the VRCMs control a robot by executing a task program of the robot based on the task file managed by the task file management unit, and
• the hard real-time control machine comprises:
• a plurality of trajectory planning units that plan trajectories, respectively, based on control commands of the virtual robot control machines, respectively;
• a hardware operating reference time memory that stores a hardware operating reference time so that the trajectory planning units and the virtual robot control machines can perform a synchronization task;
• a plurality of motion controllers that generate motion control commands, respectively, in real-time based on the trajectory plans of the trajectory planning units, respectively;
• and
• a DSP controller that controls robot driving hardware by signal-processing the motion control commands of the plurality of motion controllers.