Interactive robot control system and method of use

A distributed controller adapted for controlling the motion of a robot via control data, the controller having a plurality of robotic joints, actuators, and a plurality of sensors adapted for determining feedback data at a corresponding one of the robotic joints, and comprising:

• a plurality of high-speed communication networks;
• a plurality of joint-level controllers each embedded in the robot in proximity to a corresponding one of the robotic joints being controlled thereby, and each adapted for processing the feedback data from a corresponding one of the robotic joints;
• a joint coordination-level controller adapted for coordinating the motion of the robotic joints via direct communication with each of the joint-level controllers;
• a command-level controller adapted for transmitting a signal commanding performance of the task to the joint coordination-level controller;
• a central data library (CDL) adapted for centralizing all of the control data and the feedback data;
• and
• a user interface in electrical communication with the CDL, and adapted for displaying a status of each of the robotic joints, actuators, and sensors using information from the CDL;
• wherein the distributed controller displays via the user interface a parameterized action sequence having a hierarchy of linked events, and wherein the user interface allows the user to modify the parameterized action sequence via the user interface to change the control data in real time.

A method of controlling a robot using a distributed controller, the method comprising:

• transmitting control data through different control levels of the distributed controller to control motion of a plurality of robotic joints of the robot, the control levels including:
• a command-level controller adapted for transmitting a control signal commanding performance of an automated task by the robot, a joint coordination-level controller adapted for receiving the control signal and coordinating motion of at least some of the joints in response thereto, and a plurality of embedded joint-level controllers each adapted for processing the feedback data from a corresponding one of the robotic joints;
• automatically routing all control and feedback data from a plurality of robotic joints, actuators, and sensors to a centralized data library (CDL);
• displaying real-time graphical information describing the status and operation of the robotic joints, actuators, and sensors using information from the CDL;
• generating a parameterized action sequence for execution by the robot;
• creating a hierarchy of linked events within the parameterized action sequence;
• and
• executing the parameterized action sequence via a user interface that allows interaction with the user through at least one of a visual prompt and an audible prompts.