Robot control system and method

A robot control method in which at least one motion is performed by controlling at least one of a plurality of actuators provided on a robot, the robot control method comprising:

• receiving, by an adjustment module, a request for performance of the at least one motion;
• detecting a controller module from a plurality of controller modules capable of performing the at least one motion;
• transmitting a control command corresponding to the performance of the at least one motion to an abstraction layer module;
• judging whether or not the detected controller module is an owner of a control right over the at least one of the plurality of actuators to perform the at least one motion by confirming an identifier (ID) of the detected controller module by the abstraction layer module;
• transmitting the control command from the abstraction layer module to the at least one of the plurality of actuators upon judging that the detected controller module is the owner of the control right over the at least one of the plurality of actuators to perform the at least one motion;
• generating a controller module capable of performing the at least one motion if there is co controller module to perform the at least one motion;
• designating the detected controller module or the generated controller module to perform the at least one motion;
• deciding, by the designated controller module, the at least one of the plurality of actuators necessary to perform the at least one motion based on motion data to perform the at least one motion;
• asking, by the adjustment module, the designated controller module a question as the which actuator is necessary to perform the at least one motion;
• transmitting data of the necessary actuator from the designated controller module to the adjustment module;
• judging, by the adjustment module, whether or not the necessary actuator is available;
• and
• providing, by the adjustment module, a control right over the necessary actuator to the designated controller module upon judging that the necessary actuator is available.

A robot control system comprising:

• a plurality of actuators provided on a robot;
• a plurality of controller modules, each of which controls at least one of the plurality of actuators;
• an adjustment module to register a control right of each of the plurality of controller modules over at least one of the plurality of actuators when the plurality of controller modules requests the control rights over a determined plurality of actuators from the adjustment module and to detect a controller module from the plurality of controller modules capable of performing at least one motion when a request for the at least one motion is made;
• and
• an abstraction layer module to judge whether or not a detected controller module has the control right over the at least one of the plurality of actuators, and to drive the at least one of the plurality of actuators by controlling execution of the controller module, wherein the abstraction layer module confirms whether or not the detected controller module is an owner of the control right over the at least one of the plurality of actuators, and transmits a control command to the at least one of the plurality of actuators, wherein
• the adjustment module asks the controller modules a question as to which actuators are necessary to execute the at least one motion.