Industrial robot system

Abstract

The present invention relates to an industrial robot system, including a first robot (12). The first robot includes a first manipulator (13) and a first main controller (20). The first manipulator has a base (14) and a tool (16) that can move relative to the base (14) around multiple axes. The first main controller has main robot functionality, and the main robot functionality includes control of the manipulator movement. The industrial robot system further includes a plurality of auxiliary controllers (28, 29, 30, 31, 32, 36, 100), each auxiliary controller having auxiliary robot functionality, wherein the main robot functionality is different from all the auxiliary robot functionalities, and wherein the overall robot functionality is defined by the main robot functionality and one or more of the auxiliary robot functionalities.

Description

Technical Field

[0001] The present invention generally relates to an industrial robot system. More specifically, the present invention relates to a method and a robot system for distributing the robot functionality of at least one robot among more than one controller entity. Background Art

[0002] Robots are often used in industry for various operations, such as, for example, for manufacturing objects. An industrial robot typically includes a manipulator that can move about multiple axes, a tool attached to the manipulator and configured to perform an action (such as, for example, gripping), a robot controller configured to control the robot, and a control unit having a user interface adapted to communicate with the robot controller and enabling programming of the robot. A typical robot controller can include or be prepared for many functions, such as an HMI, an I / O system, fieldbus support, etc.

[0003] In many robot workspaces, more than one robot collaborates to perform an operation or an overall process. Thus, the individual robot actions or performances are different from the overall operation.

[0004] However, depending on the purpose of the robot, the processing software and hardware resources of the robot controller change. Moreover, due to the purpose of the robot and the overall expected process may change, the actions or performances (i.e., their functionality) of the individual robots may change accordingly. This typically requires adapting the robot and the robot controller and sometimes swapping the robot for another robot with different functionality.

[0005] Therefore, there is a need to use the functionality of robots more generally and flexibly. Summary of the Invention

[0006] It is an object of the present invention to overcome the above problems and provide a robot system that is at least somewhat improved compared to the prior art solutions. This and other objects will become apparent by means of an industrial robot system and a method for distributing the robot functionality of a first robot, the industrial robot system including at least one first robot having a first manipulator, a first main controller, and a plurality of auxiliary controllers.

[0007] According to a first aspect of the present invention, there is provided an industrial robot system including a first robot. The robot includes a first manipulator having a base and a tool movable relative to the base about a plurality of axes; and a first main controller having a first main robot functionality, the first main robot functionality including control of the manipulator movement, wherein the industrial robot system further includes a plurality of auxiliary controllers, each auxiliary controller having an auxiliary robot functionality, wherein the first main robot functionality is different from all of the auxiliary robot functionalities, and wherein the overall robot functionality is defined by the first main robot functionality and one or more of the auxiliary robot functionalities.

[0008] Accordingly, the first main controller becomes compact and low-cost. As previously mentioned, there is a need to use the functionality / functions of the robot more generally and flexibly, and the present invention provides this by providing a robot and having all other possible functionalities of the robot, robot workspaces, and / or processes (e.g., a process including a plurality of robot workspaces) assigned to the auxiliary controllers, the robot being able to perform its main function through the first main robot functionality of the first main controller. Thus, since different auxiliary functionalities can be added to the overall robot functionality based on the desired requirements, the industrial robot system is very applicable. In other words, the industrial robot system according to the present invention provides an overall robot functionality that is scalable since the first main robot functionality can be scaled up proportionally by one or more of the auxiliary robot functionalities.

[0009] Moreover, by including only the first main robot functionality in the first main controller, the first main controller is scaled down compared to conventional robot controllers. According to at least one example embodiment, the first main controller includes only manipulator movement functionality. That is, according to such an embodiment, the first main robot functionality is manipulator movement functionality.

[0010] According to at least one example embodiment, the auxiliary robot functionality is any robot functionality provided by the auxiliary controller. Thus, it should be understood that according to at least one example embodiment, the auxiliary robot functionality may include functionality that is the same as the first main robot functionality, e.g., manipulator movement control, but the first main robot functionality generally does not include any functionality other than the first main robot functionality. By keeping all functionality other than the first main robot functionality outside the first main controller, the first main controller can be made simple and compact.

[0011] According to at least one example embodiment, the first primary robot functionality is different from the overall auxiliary robot functionality, i.e., the sum of the auxiliary robot functionality of the auxiliary controllers. According to at least one example embodiment, the first primary robot functionality is different from each of the auxiliary robot functionalities in the auxiliary robot functionality. The auxiliary robot functionality of a particular auxiliary controller is, for example, the total auxiliary robot functionality in that auxiliary controller. According to at least one example embodiment, none of the second robot functionalities are included in the first primary robot functionality. According to at least one example embodiment, the auxiliary robot functionalities are different from each other.

[0012] According to at least one example embodiment, the first primary controller is integrated into the first manipulator, for example, integrated into the arm of the first manipulator.

[0013] The first primary controller may be affected by a number of environmental limitations, such as, for example, space requirements in the robot, processing power limitations, storage / memory capacity, memory, etc. As an example, the space requirements of the robot may impose constraints on the size of the first primary controller. Similarly, if there are processing resource limitations in the first primary controller, the computations that have been designed to be executed locally on the robot will be limited to a particular robot application performance. By providing certain robot functionalities in at least one auxiliary controller (such as, for example, in the cloud or in another local robot controller) outside of the first manipulator or even outside of the robot and / or the robot work cell, a robot with a wide variety of functionalities that can still be integrated into the first manipulator can be provided.

[0014] Therefore, by distributing the robot functions in an industrial robot system such that the first primary controller includes the first primary robot functionality and any auxiliary robot functionality is assigned to the auxiliary controllers, the first primary controller can be made compact so that it can be integrated into the first manipulator. Thus, the controller is integrated in the same element (i.e., the first manipulator) that it is used to control, which is advantageous, for example, in terms of signal processing and response time.

[0015] According to at least one example embodiment, a plurality of auxiliary controllers are arranged outside the first manipulator.

[0016] Therefore, according to this example embodiment, the auxiliary controllers are not integrated into the first manipulator. Thus, the size constraints of the auxiliary controllers may not be as strict as those of the first primary controller. At least one auxiliary controller may be located in the robot work cell.

[0017] According to at least one example embodiment, the industrial robot system further includes network means for distributing the robot functionality of the first robot between the first primary controller and one or more of the auxiliary controllers.

[0018] Thus, the overall robot functionality can be allocated in an efficient manner, and it may be easy to add any auxiliary robot functionality to the robot to extend or scale its functionality beyond the first primary robot functionality. Network communication can be achieved by using a real-time network such as TSN or a wireless network similar to 5G.

[0019] According to at least one example embodiment, the network device includes a functionality determination unit configured to obtain data on the available functionality of a first robot and determine whether a desired robot functionality can be performed based on the available functionality.

[0020] Thus, the industrial robot system can decide whether a robot or a robot system can perform a desired robot functionality or robot performance (e.g., via a requested function). The functionality determination unit can alternatively or additionally be configured to determine whether the robot functionality corresponding to the desired robot functionality is available in the first primary robot functionality and / or the auxiliary robot functionality.

[0021] According to at least one example embodiment, the first primary controller and each auxiliary controller include processing software and hardware resources to perform the associated functions of the primary robot functionality and the auxiliary robot functionality.

[0022] For example, the first primary controller includes processing software and hardware resources to perform the first primary robot functionality, and each auxiliary controller includes processing software and hardware resources to perform its associated auxiliary robot functionality. Thus, the processing software and hardware resources can be optimized for one or more functions they are intended for. The processing software and hardware resources can be embodied, for example, by a computer and a logic unit in each of the first primary controller and the auxiliary controllers.

[0023] According to at least one example embodiment, the first primary robot functionality of the first primary controller includes control of at least the integrated processing device of the robot.

[0024] According to at least one example embodiment, the first primary robot functionality includes (such as, for example, only includes) motion control of a manipulator and any tool attached thereto.

[0025] According to at least one example embodiment, the first primary controller includes robot safety functionality, for example, robot safety related to the first manipulator and its motion control. According to at least one example embodiment, the first primary controller includes a controller interface, for example, Ethernet, fieldbus slave device, TPU, PC interface, safety signal, or discrete I / O. The safety functionality of the first primary controller can include a safety interface, for example, a safety interface as a discrete signal or via a safety fieldbus.

[0026] According to at least one example embodiment, the first master controller includes a power supply unit and / or a drive unit. According to at least one example embodiment, the first master robot functionality of the first master controller includes control of the power supply unit and / or control of the drive unit. For example, the first master controller may be configured to supply power from the power supply unit to the drive unit and / or a computer and logic unit, and / or be configured to enable the power and logic units to communicate directly with the drive unit.

[0027] According to at least one example embodiment, the drive unit is configured to operate the first manipulator or manipulator arm and any tool attached to the first manipulator or manipulator arm. It should be noted that according to at least one example embodiment, the drive unit and / or the power supply unit of the first manipulator are arranged outside the first master controller.

[0028] According to at least one example embodiment, at least one or all of the following functions are excluded from the first master robot functionality: fieldbus master control, overall robot process control, support for additional / external drive units, synchronized robot motion control.

[0029] According to at least one example embodiment, the auxiliary robot functionality of the plurality of auxiliary controllers includes control of at least one of the following: support for additional / external drive units, overall robot process control, robot workcell I / O, external robot handling equipment, synchronized robot motion control, HMI, and overall robot safety. Thus, according to at least one example embodiment, such functionality is not included in the first master robot functionality.

[0030] According to at least one example embodiment, the plurality of auxiliary controllers includes at least one of the following controllers: a robot workcell controller, a machine controller, an edge or line controller, a second robot master controller.

[0031] All of the auxiliary controllers mentioned are generally arranged outside the robot. According to at least one example embodiment, the auxiliary controller includes at least one network-based server, such as, for example, a cloud server.

[0032] According to at least one example embodiment, the industrial robot system further includes a second robot having a second manipulator with a base and a tool movable relative to the base about a plurality of axes; and a second master controller having a second master robot functionality that includes motion control of the second manipulator, wherein the overall functionality of the second robot is defined by the second master robot functionality and one or more auxiliary robot functionalities.

[0033] Accordingly, at least two robots can be set up with the same configuration, and the same auxiliary controller can be used to separately expand the functionality of the first robot and the second robot. The second robot can be included, for example, in the same robot workshop as the first robot.

[0034] The effects and features of the second robot are largely similar to the effects and features described above in connection with the first robot. The embodiments mentioned in connection with the first robot are largely compatible with the second robot.

[0035] According to at least one example embodiment, the movements of the first manipulator and the second manipulator are synchronized to form a multi-robot motion system.

[0036] Accordingly, an efficient multi-robot motion system is provided.

[0037] According to at least one example embodiment, the functionality of the movements synchronized by the first manipulator and the second manipulator is included in one of the auxiliary controllers in the auxiliary controller.

[0038] In other words, at least one of the auxiliary controllers in the auxiliary controller is configured to synchronize the movements of the first manipulator and the second manipulator to form a multi-robot motion system. Such an auxiliary controller can operate and communicate with the first robot and the second robot via a network device.

[0039] According to a second aspect of the present invention, there is provided a method for allocating robot functionality of a first robot. The robot includes a first manipulator, and the method includes the following steps:

[0040] – Operating the first robot with a first main robot functionality using a first main controller, the main robot functionality including control of the manipulator movement,

[0041] - Operating the first robot with an auxiliary robot functionality different from the first main robot functionality through at least one of a plurality of auxiliary controllers, whereby the overall functionality of the first robot is defined by the first main robot functionality and one or more auxiliary robot functionalities.

[0042] The effects and features of the second aspect of the present invention are largely similar to the effects and features described above in connection with the first aspect of the present invention. The embodiments mentioned in connection with the first aspect of the present invention are largely compatible with the second aspect of the present invention, some of which are illustrated below.

[0043] For example, the first main robot functionality is different from the auxiliary robot functionality in the same manner as explained with reference to the first aspect of the present invention.

[0044] According to at least one example embodiment, the method further comprises the following steps:

[0045] - Operating a second robot having a second master robot functionality by a second master controller, the second master robot functionality including motion control of a second manipulator,

[0046] - Operating a first robot and a second robot by synchronized motions of a first manipulator and the second manipulator to form a multi-robot motion system, wherein the functionality of the synchronized motions of the first manipulator and the second manipulator is included in one of the auxiliary controllers in an auxiliary controller.

[0047] Other advantages and features of the present disclosure are disclosed and discussed in the following description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] These and other aspects of the inventive concept will now be described in more detail with reference to the drawings showing example embodiments of the inventive concept, in which

[0049] Figure 1 A robotic work cell having two robots and corresponding master controllers and other controller entities is schematically shown,

[0050] Figure 2 Master controllers and auxiliary controllers connected to a local communication network, which in turn is connected to the Internet, are schematically shown.

[0051] Figure 3 A block diagram showing relevant components of a first master controller, and

[0052] Figure 4 A block diagram showing a network-based robotic system using a master controller and an auxiliary controller. DETAILED DESCRIPTION

[0053] In the following description, for purposes of explanation and not limitation, specific details such as particular components, interfaces, techniques, etc. are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0054] Figure 1A robotic work cell 10 is schematically shown. The robotic work cell 10 includes a region in which a first robot 12 is present, the first robot 12 being equipped with a first manipulator 13, the first manipulator 13 including a first base 14 and a first tool 16 for holding an object 18, and where the object may be a product or may be used to form a product. A second robot 22 is also present in the robotic work cell 10, the second robot 22 being equipped with a second manipulator 23, the second manipulator including a second base 24 and a second tool 26 for holding the object 18, the object in this case being the same object 18 held by the first robot 12. Thus, in handling the object 18, the two robots 12 and 22 cooperate in the synchronized movement of the first manipulator 13 and the second manipulator 23 herein.

[0055] The number of robots shown in the robotic work cell is exemplary. It should be appreciated that there may be more robots in the robotic work cell and there may also be fewer robots. However, all robots in the robotic work cell are members of a common cooperation group, i.e., a group that cooperates in performing a number of related or synchronized activities such as for producing a product or holding an object.

[0056] As mentioned above, the first robot 12 is involved in the production of a product in this example. This means that the first tool 16 can move along the first robot movement path while performing a first number of activities. In a similar manner, the second tool 26 can move along the second robot movement path while performing a second number of activities.

[0057] To perform the primary control of the first robot 12 and the second robot 22, specifically, to perform the primary control of the first manipulator 13 and the second manipulator 23, and the processing related to these activities, furthermore, there is a first master controller 20 integrated into the first robot 12 for controlling the first manipulator 13 and a second master controller 28 integrated into the second robot 22 for controlling the second manipulator 23. The first master controller 20 and the second master controller 28 are both examples of controller entities that include processing software and hardware resources configured to perform certain functions related to the first robot 12 and the second robot 22, respectively. Herein, the first master controller 20 and the second master controller 28 are both configured to perform corresponding master robot functionality including the control of manipulator movement.

[0058] Each functionality or function is associated with at least one robot activity, typically the associated number of activities, to perform a specific task. The functionality or function is performed by a processing unit with respect to the robotic work cell and also with respect to the corresponding robot in this case. It should be noted that the terms "functionality" and "function" may be used interchangeably throughout the text.

[0059] In or at the robot workshop 10, there may be a number of other controller entities, which are referred to as auxiliary controllers in this document. As an example, there is a first robot workshop controller 30, which includes processing software and hardware resources configured to perform certain functions that are typically different from those included in the first main controller 20 and the second main controller 28. The first robot workshop controller 30 may also include a processing unit that processes data to perform the associated functions and / or processes data provided outside the robot by, for example, a first sensor, such as a camera or a temperature sensor. The robot workshop 10 may also include a second robot workshop controller 32, which includes processing software and hardware resources configured to perform certain functions that are typically different from those included in the first main controller 20 and the second main controller 28. Correspondingly, the second robot workshop controller 32 may also include a processing unit that processes data to perform the associated functions and may also process data provided outside the robot by, for example, a second sensor, such as a camera or a temperature sensor. The functionality of the first robot workshop controller 30 and the second robot workshop controller 32 is referred to as auxiliary robot functionality, and thus, these functionalities are subordinate to the main robot functionality of the first main controller 20 and the second main controller 28.

[0060] Other controller entities in or near the robot workshop 10 are exemplified as Figure 1 the first edge / line controller 29 and the second edge / line controller 31. Correspondingly, each of the first edge / line controller 29 and the second edge / line controller 31 includes processing software and hardware resources configured to perform certain functions that are typically different from those included in the first main controller 20 and the second main controller 28 and / or different from those included in the first robot workshop controller 30 and the second robot workshop controller 32. Each of the first edge / line controller 29 and the second edge / line controller 31 includes a processing unit that processes data to perform the associated functions and / or processes data provided outside the robot. Correspondingly, the functionality of the first edge / line controller 29 and the second edge / line controller 31 is also referred to as auxiliary robot functionality, and these functionalities are thus subordinate to the main robot functionality of the first main controller 20 and the second main controller 28.

[0061] The first robot workshop controller 30 and the first edge / line controller 29 can be configured, for example, to complement the first robot 12 with functions not included in the first main controller 20. Correspondingly, the second robot workshop controller 32 and the second edge / line controller 31 can be configured, for example, to complement the second robot 22 with functions not included in the second main controller 28. Thus, the functionality of the first robot 12 and the second robot 22 can be built from building blocks, where each building block is associated with certain functions of the corresponding robot. Therefore, by adding one or more of the building blocks (i.e., one or more of the auxiliary functionalities of the auxiliary controllers such as the robot workshop or the edge / line controller), the functionality of each robot can be scaled up or extended proportionally based on the requirements.

[0062] Figure 2 Schematically shows various controller entities 20, 28, 30, 32 of the robot workshop 10, such as the first main controller 20 and the second main controller 28 and other auxiliary controllers 30, 32. In Figure 2 it, auxiliary controllers 29, 31, 36 outside the robot workshop 10 are also shown, where at least some of the auxiliary controllers 29, 30, 31, 32 are connected to a local communication network LCN 33, such as a local area network (LAN), which can be a private network with restricted access. A gateway 34 is also connected to the local communication network 33, and the gateway 34 provides connectivity for the devices of the local communication network 33 to a public network 35 such as the Internet IN. Via the gateway 34, the control entities can, for example, access a cloud computing device 36, which can be a cloud computing server in a cloud computing service center or a resident server park (local cloud). In addition, the cloud computing device 36 can be a control entity, such as an auxiliary controller, that includes processing software and hardware resources configured to perform auxiliary robot functionality and / or perform processing associated with the robot workshop, and the processing can be for one or more of the robots in a collaborative group of robots.

[0063] Figure 3A block diagram showing some of the elements of the first master controller 20 related to the present invention is presented. It includes a computer and logic unit 40, which generally includes or is connected to a memory and serves as a communication interface for communicating on a local communication network 33. The first master controller 20 also includes a power supply unit 50 and a drive unit 60. The computer and logic unit 40 can be coupled to the drive unit 60 directly or through a daisy-chain communication link involving the power supply unit 50. The drive unit 60 controls the first manipulator 13 and can also control the first tool 16 and operates them according to instructions given by the computer and logic unit 40. Alternatively, the first tool 16 can be controlled by the local I / O of the computer and logic unit 40. Thus, the first manipulator 13 and the first tool 16 are capable of performing several activities associated with the first master robot functionality enabled by the computer and logic unit 40. The power supply unit 50 supplies power to the computer and logic unit 40 (e.g., through 24V logic power) and the drive unit 60 (e.g., through a DC bus). For example, the computer and logic unit 40 of the first master controller 20 is involved in the functionality of the first robot 12 performing various activities along the first robot movement path. This functionality can involve generating the positions to which the first tool 16 is to move and executing commands or actions by the first tool 16. However, the computer and logic unit 40 can also include other types of functionality, such as processing, for example, image processing (to detect objects to be picked up) and processing to determine which object to pick up.

[0064] Although the computer and logic unit 40 is shown as a single unit, its functionality can be divided into multiple units, such as separate processors and separate memories, etc. It should also be recognized that the first master controller 20 can include more elements and units. However, since these are not important for understanding the present invention, they are omitted. Moreover, the power supply unit 50 and / or the drive unit 60 can be arranged outside the first master controller 20.

[0065] As previously mentioned, the first master robot functionality of the first master controller 20 can be provided by the computer and logic unit 40 and the associated processors and memories. Thus, as an example, it can be provided in the form of a processor having an associated computer program code that executes functions provided as program code in a memory run by the processor. As an alternative, the computer and logic unit 40 can be provided in the form of an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0066] Figure 4 Shows Figure 3Schematic block diagram of the main controller and the associated network-based robot system 200, where the first main controller 20 is connected to the auxiliary controller 100, which is, for example, a robot workshop controller (as the first robot workshop controller 30) or a line / edge controller (as the first line edge controller 29). Compared with the main controller being primary in its functionality, the named auxiliary controller herein refers to a controller that is auxiliary in its functionality. The first main controller 20 can be integrated, for example, into the manipulator or other components of the associated robot, while the auxiliary controller can be arranged outside the robot.

[0067] As Figure 4 shown, the auxiliary controller 100 includes processing software and hardware resources configured to perform certain functions associated with its auxiliary robot functionality, which are not provided by the computer and logic unit 40 of the first main controller 20. These functions are exemplified herein by the HMI human-machine interaction function 102, the overall robot motion control or the overall robot process control (such as, for example, the synchronized robot motion control function 104), and the overall robot safety control 106. Thus, since the functionality of the auxiliary controller 100 can be used in addition to the functionality of the first main controller 20, the functionality of the first robot 12 can be increased or extended beyond the first main robot functionality provided by the first main controller 20. Moreover, the auxiliary controller 100 can include a drive unit 108 configured to operate the robot or the servo motor 110 in accordance with the functions 102, 104, 106 of the auxiliary controller 100. The auxiliary controller 100 generally includes a power supply unit that powers the auxiliary controller 100.

[0068] Moreover, in Figure 4In [the figure], two main controllers 20, 28 interconnected with each other via a network-based robot system 200 are shown. Herein, some elements of the second main controller 28 of the second robot 22 and the elements of the second main controller 28 related to the present invention are visualized. Corresponding to the first main controller 20, the second main controller 28 includes a computer and a logic unit 41, which generally includes or is connected to a memory and serves as a communication interface for communicating with the auxiliary controller 100 on the local communication network 33. The second main controller 28 also includes a power supply unit 51 and a drive unit 61. The drive unit 61 controls the second manipulator 23 and can also control the second tool 26 of the second robot 22, and operates them according to the instructions given by the computer and the logic unit 41. Alternatively, the second tool 26 can be controlled by the local I / O of the computer and the logic unit 41. Therefore, the second manipulator 23 and possibly the second tool 26 can perform several activities associated with the second main robot functionality enabled by the computer and the logic unit 41. The power supply unit 51 supplies power to the computer and the logic unit 41 (e.g., through 24V logic power) and the drive unit 61 (e.g., through the DC bus).

[0069] Therefore, the auxiliary controller 100 can also communicate with the second main controller 28, and thus can supplement the functionality of the second robot 22 beyond the second main robot functionality available through the second main controller 28.

[0070] Therefore, the functionality of the first robot 12 and the second robot 22 can be scaled by the first main controller 20 and the second main controller 28 constituting the network-based robot system and their network-connected auxiliary controller 100.

[0071] Figure 4 The auxiliary controller 100 can be, for example, a robot workshop controller, but it should be understood that another controller entity associated with other auxiliary functionality is within the scope of the present invention. The auxiliary controller 100 can be, for example, an edge / line controller without the Figure 4 shown drive unit 108. Instead, the edge / line controller can be connected to the servo drive and the motor via a network to perform its associated functions. Moreover, at least one of the above functions 102, 104, 106 can be located outside the auxiliary controller 100, for example, located in Figure 2 the cloud server 36 shown.

[0072] A multi-robot motion system can be constructed by connecting at least two master controllers 20, 28 via an auxiliary controller 100 and over a network. The multi-motion system can support, for example, synchronous and asynchronous robot motion, such as, for example, handling an object 18 by a first tool 16 and a second tool 26. The multi-motion system can be implemented, for example, as the above-described functions of motion control 104 in the auxiliary controller 100. Thus, the motion controlled by the first master controller 20 and the second master controller 28 (which are connected to the same network herein) can be synchronized with the robot motors and / or additional motors directly controlled by the auxiliary controller 100.

[0073] According to at least one example embodiment, the first master controller 20 and the second master controller 28 can be configured to dynamically connect to or disconnect from the network.

[0074] According to at least one example embodiment, the network can be shared by several robot cell controllers, allowing the first master controller 20 and the second master controller 28 to connect to different robot cell controllers. This is particularly advantageous in a mobile robot environment where multiple robot cell controllers can use the robots at different times and in different locations.

[0075] The network topology is not limited to Figure 4 the star topology disclosed in, but can be, for example, a daisy chain or a combination of star chain and daisy chain. Additionally, the auxiliary controller 100 can include computing capabilities for handling multiple robots, synchronizing additional motors, and safety control.

[0076] Thus, the network and the auxiliary controller 100 (e.g., robot safety functions) can extend the respective capabilities of the first master controller 20 and the second master controller 28 and additionally enable a multi-robot motion system that provides, for example, synchronized multi-robot motion.

[0077] Thus, using as Figure 4The network-based robotic system 200 with the master controllers 20, 28 and at least one auxiliary controller 100 disclosed herein provides an arrangement for distributing the functionality of the first robot 12 in the robotic workplace 10 among more than one control entity. In the example given above, the control entities are the first master controller 20, the second master controller 28 and the auxiliary controller 100. It should be recognized that, in addition to the first master robotic functionality of the first robot, specific functionality that can be at least or only the motion control of the first manipulator 13 is generally not provided in the first master controller 20. For example, it can be provided in another control entity of the robotic workplace. It can even be provided in a separate control entity connected to the local communication network 33 and, in this case, can be combined with another control entity provided for other robotic workplaces. In this case, any such control entity will be an auxiliary controller and form part of the arrangement.

[0078] The network-based robotic system 200 may also include a functionality determination unit 107 configured to obtain data regarding one or more available functionalities of, for example, the first robot 12. The functionality determination unit 107 may also be configured to determine whether the desired robotic performance can be executed based on the one or more available functionalities. The functionality determination unit 107 may be included in the auxiliary controller (such as, for example, Figure 4 in) or in one of the master controllers 20, 28 (such as, for example, the first master controller 20).

[0079] The above-mentioned various controller entities have been mainly described with reference to the associated hardware resources, such as, for example, a processing unit provided in the form of one or more processors and processing software including a computer program memory that includes computer program code for performing its functions. As an alternative, it can be provided in the form of an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). The computer program code can also be provided on one or more data carriers that execute the functionality of the control entity when the program code thereon is loaded into the processing entity of the robot or the robotic workplace in which the processing entity is to be provided. One such data carrier with computer program code takes the form of a CD ROM disk. As an alternative, such a computer program can be provided on a server and downloaded from the server to the processing entity under discussion.

[0080] Accordingly, while the invention has been described in connection with the presently considered most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. On the contrary, the invention is intended to cover various modifications and equivalent arrangements. Additionally, by studying the drawings, the disclosure, and the appended claims, those skilled in the art can understand and realize variations of the disclosed embodiments when practicing the claimed inventive concept. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

1. An industrial robot system, comprising a first robot (12), the first robot including a first manipulator (13) and a first main controller (20), the first manipulator having a first base (14) and a first tool (16) capable of moving relative to the first base (14) about a plurality of axes, the first main controller having first main robot functionality, the first main robot functionality including control of the manipulator movement, wherein the industrial robot system further includes a plurality of auxiliary controllers, each auxiliary controller having auxiliary robot functionality, wherein the main robot functionality is different from all of the auxiliary robot functionalities, and wherein the overall robot functionality is defined by the main robot functionality and one or more of the auxiliary robot functionalities; wherein the first main controller is integrated into the first manipulator; wherein the plurality of auxiliary controllers are arranged outside the first manipulator.

2. The industrial robot system according to claim 1, further comprising network means (33, 200) for distributing the robot functionality of the first robot between the first main controller (20) and one or more of the auxiliary controllers.

3. The industrial robot system according to claim 2, wherein the network means includes a functionality determination unit configured to obtain data on the available functionality of the first robot and determine whether the desired robot functionality can be executed based on the available functionality.

4. The industrial robot system according to any one of claims 1-3, wherein none of the auxiliary robot functionalities are included in the main robot functionality.

5. The industrial robot system according to any one of claims 1-3, wherein the first main controller and each auxiliary controller include processing software and hardware resources to execute the relevant functions of the main robot functionality and the auxiliary robot functionality.

6. The industrial robot system according to any one of claims 1-3, wherein the main robot functionality includes control of at least the integrated processing device of the first robot.

7. The industrial robot system according to any one of claims 1-3, wherein the auxiliary robot functionality includes control of at least one of the following: support for additional / external drive units, overall robot process control, robot work cell I / O, external robot processing equipment, synchronized robot movement control, HMI, and overall robot safety.

8. The industrial robot system according to any one of claims 1-3, wherein the plurality of auxiliary controllers includes at least one of the following controllers: a robot work cell controller (30, 32), a machine controller, an edge or line controller (29, 31), a second main controller (28).

9. The industrial robot system according to any one of claims 1-3 further includes a second robot (22), the second robot (22) having a second manipulator (23) and a second main controller (28), the second manipulator (23) having a second base (24) and a second tool (26) capable of moving about a plurality of axes relative to the second base (24), the second main controller (28) having a second main robot functionality, the main robot functionality including motion control of the second manipulator, wherein the overall robot functionality of the second robot is defined by the main robot functionality and one or more auxiliary robot functionalities.

10. The industrial robot system according to claim 9, wherein the motions of the first manipulator and the second manipulator are synchronized to form a multi-robot motion system.

11. The industrial robot system according to claim 10, wherein the functionality of the motions synchronized by the first manipulator and the second manipulator is included in one of the auxiliary controllers included in the auxiliary controller.

12. A method for allocating robot functionality of a first robot, the first robot including a first manipulator, the method comprising the following steps: - Operating the first robot with a first main controller having a main robot functionality, the main robot functionality including control of the motion of the manipulator, - Operating the first robot with at least one of a plurality of auxiliary controllers having an auxiliary robot functionality different from the main robot functionality, whereby the overall functionality of the first robot is defined by the main robot functionality and one or more auxiliary robot functionalities, wherein the first main controller is integrated into the first manipulator; wherein the plurality of auxiliary controllers are arranged outside the first manipulator.

13. The method according to claim 12, further comprising the following steps: - Operating a second robot with a second main controller having a main robot functionality, the main robot functionality including control of the motion of the second manipulator, - Operating the first robot and the second robot through the motions synchronized by the first manipulator and the second manipulator to form a multi-robot motion system, wherein the functionality of the motions synchronized by the first manipulator and the second manipulator is included in one of the auxiliary controllers included in the auxiliary controller.

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