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Robotic system and its task planning method

A robot system and robot technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as low programming efficiency

Active Publication Date: 2017-06-16
GM GLOBAL TECH OPERATIONS LLC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, programming inefficiencies for certain tasks may exist in the field, especially in large networked environments utilizing robots of different designs and / or of widely varying relative complexity

Method used

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  • Robotic system and its task planning method
  • Robotic system and its task planning method
  • Robotic system and its task planning method

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Embodiment Construction

[0020] Referring to the drawings, in several views, similar reference numerals represent the same or similar parts, figure 1 The distributed robot control network 10 is schematically shown. For example, the control network 10 may include an example humanoid robot 12 and a conventional multi-axis robot 14 as shown, and / or more or fewer robots with greater or lesser complexity relative to the robots 12,14. As explained herein, a comprehensive robot task planning for one or more robots is implemented via a robot task commander (RTC) 13 within the control network 10.

[0021] Normally, task planning in a distributed control environment is performed at the level of each robot 12, 14, to be precise only for those special robots 12, 14. When constructed and used as described herein, RTC13 instead provides a graphical integrated development environment (IDE), which allows the use of a visual programming language (VPL) to write new program codes. This occurs in the first layer, the graph...

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Abstract

A system for developing application-level software for distributed robotics, comprising a robot with an associated control module that controls the movement of the robot in response to a commanded mission, and a Robotic Mission Commander (RTC) that communicates via a network transport layer (NTL) communicates with the control module network. The RTC includes a scripting engine and GUI, and the central library of processor and library blocks consists of interpreted computer programming code with input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In the execution method, the VPL is opened, the tasks for the robot are established from the code library blocks, and the data are assigned to the input and output connections that identify the input and output data of each block. The task sequence is sent to the control module through NTL to command the execution of the task.

Description

[0001] Statement regarding research or development funded by the federal government [0002] The present invention was carried out with government support under NASA Space Action Agreement No. SAA-AT-07-003. The US government may have certain rights in this invention. Technical field [0003] The present disclosure relates to a system and method for task planning of an automatic robot, and more particularly to a robot task commander with an extensible programming environment that can be used for such task planning. Background technique [0004] Robots are automated devices that can manipulate objects using a series of mechanical links. These links are connected to each other via robot joints driven by motors / actuators. Each joint in a typical robot represents an independent control variable, which is a degree of freedom. The end effector is a special device located at the end of the robot manipulator. The manipulator is used to perform tasks at hand, such as grasping work tools o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/418
CPCB25J9/1661G05B2219/40099
Inventor S.W.哈特J.D.亚莫科斯基B.J.怀特曼D.P.戴恩D.R.古丁
Owner GM GLOBAL TECH OPERATIONS LLC
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