Robot apparatus and robot apparatus motion control method

A method for controlling the actions of a robot apparatus having a plurality of action means for performing actions;

• wherein
• the synchronous actions by the plural action means are carried out as temporally late actions in succession to a preceding action performed by the action means;
• whereby said apparatus is selectively operable to either (i) issue a command for performing said preceding action prior to issuing commands for performing said actions in synchronization with each other, or (ii) issue a command for performing said preceding action at substantially the same time as issuing commands for performing said actions in synchronization with each other.

A method for controlling the actions of a robot apparatus including a plurality of action performing means for performing actions, and a plurality of action control means for controlling said plural action means, said method comprising:

• a step of command control means affording a label indicating at least the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of plural synchronization commands relevant to action performing commands which cause the robot apparatus to perform preset actions;
• and
• a step of command transmission control means controlling the synchronization commands output by said command control means to cause the plural synchronization commands to be synchronized based on said IDs and said total number to send the synchronization commands to said plural action control means.

A method for controlling the actions of a robot apparatus including a plurality of action performing means for performing actions, and a plurality of action control means for controlling the actions of the plural action performing means, said method comprising:

• a step of command control means affording a label indicating at least the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of the plural synchronization commands relevant to action performing commands which cause the robot apparatus to perform preset actions;
• and a step of command transmission control means provided on each of plural buses, usable for transmitting said commands, controlling the synchronization commands output by said command control means to cause said IDs and the total number to be stored in said co-owned memory, and referencing said co-owned memory to synchronize said synchronization commands that can be accessed by said plural command transmission control means to transmit said synchronization commands to said plural command transmission control means over said buses.