Uniform Synchronizing Robot Control And Deadlock Detection In Uniform Synchronization
AssigneeKUKA Robotics Corporation
InventorKenneth A. Stoddard
Life of this patent
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Abstract
Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.
Claims6
A method of synchronizing control program execution in synchronization objects, the method comprising:
- analyzing a control program to identify a synchronization object that will be utilized by the control program during execution of the program, the synchronization object including predefined operations;
- generating a partner object associated with the control program, the partner object including execution instructions based at least in part on the predefined operations of the synchronization object;
- and
- modifying the execution of the control program in response to the execution instructions of the partner object.
A method of synchronizing the execution of a plurality of control programs, the method comprising:
- generating a synchronization object having predefined operations;
- generating control program data associated with the synchronization object, the control program data identifying control programs that interact with the synchronization object during execution;
- generating a partner object associated with a control program identified by the control program data of the synchronization object, the partner object having execution instructions based at least in part on the predefined operations of the synchronization object;
- and
- modifying the execution of the control program based at least in part on the execution instructions of the partner object.
Dependencies are inferred from the claim text.