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US 6,208,104 B1Granted
Robot control unit
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsKazuhiko Onoue, Takahiro Ueno, Masataka Koyama, Nobuyasu Shimomura
Life of this patent
Estimating the term…
Abstract
An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.
Claims10
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;
- a second processing circuit for causing the instruction data from the inputting means to be stored into the common storage device;
- 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, wherein:
- 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.
7 more elements
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;
- a second processing circuit for causing the instruction data from the inputting means to be stored into the common storage device, wherein:
- the common storage device has a binary flag area for the instruction data corresponding to the instruction data,
- the second processing circuit causes the instruction data to be stored into the common storage device when the binary flag area for the instruction data is a predetermined logical value, and then changes the predetermined logical value of the binary flag area for the instruction data into the other logical value thereof, and
- the first processing circuit reads the instruction data corresponding to the logical value of the binary flag area for the instruction data when the binary flag area for the instruction data is the other logical value, and then changes the other logical value of the binary flag area for the instruction data into the predetermined logical value thereof.
5 more elements
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 bode by an inputting operation;
- a second processing circuit for causing the instruction data from the inputting means to be stored into the common storage device, wherein:
- the common storage device has a binary flag area for the detection corresponding to the detected data,
- the second processing circuit causes the detected data to be stored into the common storage device when the binary flag area for the detection is a predetermined logical value, and then changes the predetermined logical value of the binary flag area for the detection into the other logical value thereof, and
- the first processing circuit reads the instruction data corresponding to the logical value of the binary flag area for the detection when the binary flag area for the detection is the other logical value, and then changes the other logical value of the binary flag area for the detection into the predetermined logical value thereof.
5 more elements
Dependencies are inferred from the claim text.