Robot controlling device

A robot controlling device which outputs a command value of a joint angle to each of a plurality of driving units which drive joints of a multi joint robot main body, to control driving operations of the respective driving units, the robot controlling device comprising:

• a shared memory;
• and
• a first processing unit and a second processing unit accessibly connected to the shared memory,
• wherein the first processing unit performs track calculation processing which includes calculating operation command data indicating a series of command values to be output to the respective driving units, on the basis of a command to operate the multi-joint robot main body to a desired position posture, and storing the operation command data as calculation results in the shared memory;
• and
• the second processing unit performs synchronous processing which includes acquiring the operation command data stored in the shared memory, and synchronously outputting the command values to the respective driving units at predetermined time intervals,
• wherein the shared memory stores commands each including:
• an operation describing portion where the command to operate the multi-joint robot main body to the desired position posture is described;
• a calculation start condition describing portion where calculation start conditions to calculate the operation command data on the basis of the command described in the operation describing portion are described;
• an operation start condition describing portion where operation start conditions to operate the respective driving units are described;
• and
• a state variable which indicates at least one of a calculation start waiting state, a calculating state, a calculation completing state and an operating state,
• wherein the first processing unit comprises:
• a calculation start condition determining unit which refers to the calculation start condition describing portion of each of the commands stored in the shared memory and acquires, from the shared memory, the command described in the operation describing portion of the command satisfying the calculation start conditions and having the state variable indicating the calculation start waiting state;
• a first state variable changing unit which changes, to the calculating state, the state variable of the command acquired from the commands stored in the shared memory by the calculation start condition determining unit;
• a calculating unit which calculates the operation command data on the basis of the command acquired by the calculation start condition determining unit, to store the operation command data in the shared memory;
• and
• a second state variable changing unit which changes, to the calculation completing state, the state variable of the command corresponding to the operation command data completed to be calculated by the calculating unit among the commands stored in the shared memory,
• wherein the second processing unit comprises:
• an operation start condition determining unit which refers to the operation start condition describing portion of each of the commands stored in the shared memory and acquires, from the shared memory, the operation command data corresponding to the command satisfying the operation start conditions and having the state variable indicating the calculation completing state among the pieces of operation command data stored in the shared memory;
• a third state variable changing unit which changes, to the operating state, the state variable of the command corresponding to the operation command data acquired from the commands stored in the shared memory by the operation start condition determining unit;
• and
• a transmitting unit which acquires the command value corresponding to each of the driving units from the operation command data acquired by the operation start condition determining unit, to synchronously output the command values to the respective driving units at predetermined time intervals.