Robot controller

Abstract

Design the robot controller to have a structure that is easily expandable. [Solution] The robot controller 10 is a drive module (drive board 11) connected to the actuator of the robot, and includes a drive module that includes a processor (servo CPU 111) that receives motion command values ​​and drives the actuator, a mount (slot 15) on which a module (control board 12 or communication board 13) connected to the drive module by a network connection of a specific protocol can be mounted, and an enclosure 19 that houses the drive module and the mount.

Description

Technical Field

[0001] The technology disclosed herein relates to a robot controller.

Background Art

[0002] Patent Document 1 describes a conventional robot control device. The conventional robot control device includes a slave control device connected to a robot to control driving of the robot, and a master control device to which a plurality of the slave control devices are connected and which transmits control signals to the plurality of slave control devices. A single master control device can perform synchronized control of a plurality of robots.

[0003] Patent Document 2 describes a conventional robot control system. The conventional robot control system includes a robot control device that controls a robot, and a control CPU. The control CPU is detachably provided on the robot control device, and generates operation commands for causing the robot to operate. Patent Document 2 also describes a robot control system in which a plurality of robot control devices are connected to a single control CPU.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] The aforementioned conventional robot control devices or systems can be expanded from controlling a single robot to controlling multiple robots. However, these conventional robot control devices or systems cannot be expanded from low-spec robot control to high-spec robot control. For example, controlling an industrial robot with only specific functions is an example of low-spec robot control. Controlling an industrial robot consisting of articulated robots can also be exemplified as relatively low-spec robot control. On the other hand, controlling a robot system including multiple industrial robots, or a robot system including one or more industrial robots and their peripheral equipment, corresponds to high-spec control. Furthermore, controlling a social robot, which has a more complex structure than an industrial robot, is also an example of high-spec control.

[0006] Providing a dedicated robot controller for each robot or robot system according to its specifications is uneconomical. As the range of robot applications expands, there is a need for a system that can easily be expanded from low-spec to high-spec robot control. Robot controllers need to have a structure that facilitates this expansion. [Means for solving the problem]

[0007] The technology disclosed herein relates to a robot controller. The robot controller is A drive module connected to a robot actuator, the drive module including a processor that receives motion command values ​​and drives the actuator, A mount on which a module connected to the aforementioned drive module via a network connection of a specific protocol is detachably attached, The enclosure housing the drive module and the mount, It is equipped with. [Effects of the Invention]

[0008] The aforementioned robot controller can be easily expanded from low-spec to high-spec robot control by changing the module attached to the mount. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows a concept of an expansion system for the robot controller. [Figure 2] Figure 2 shows the schematic structure of the robot controller. [Figure 3] Figure 3 shows the drive board and the control board. [Figure 4] Figure 4 shows the extended robot controller, including the servo drive unit. [Figure 5] Figure 5 is a block diagram of the extended robot controller. [Figure 6] Figure 6 is a flowchart illustrating the design method for a robot controller. [Figure 7] Figure 7 is a flowchart relating to the robot control method. [Figure 8] Figure 8 shows a modified robot controller. [Figure 9] Figure 9 is a block diagram of a modified robot controller. [Modes for carrying out the invention]

[0010] The following describes an embodiment of the robot controller with reference to the drawings. The robot controller described here is an example.

[0011] (Concept of an expansion system for robot controllers) Figure 1 shows the concept of an extended system for a robot controller. Reference numeral 10 denotes a robot controller with a minimum configuration. The robot controller 10 is capable of controlling an industrial robot 60. The industrial robot 60 is a robot whose functions are limited to specific functions. The industrial robot 60 is, for example, a Cartesian robot. Note that the industrial robot 60 is not limited to a Cartesian robot. The industrial robot 60 may also be a robot with a small number of actuators.

[0012] The details of the structure of the robot controller 10 will be described later. The robot controller 10 includes a board that drives the actuators of the industrial robot 60, and a main processor that outputs operation command values to the actuator drive board. The actuator is, for example, an electric motor, and the actuator drive board executes servo control of the electric motor. The robot controller 10 is a servo drive unit having a main processor.

[0013] The main processor calculates operation command values in accordance with dedicated software for controlling the industrial robot 60. The operation command value may be a position command value, an actuator speed command value or a torque command value, or a combination of a position command value, a speed command value, and a torque command value. The functions of the industrial robot 60 realized by the dedicated software may be minimal. For example, the manufacturer of the industrial robot 60 may put both the industrial robot 60 and the robot controller 10 provided with dedicated software for controlling the industrial robot 60 on the market.

[0014] The processing capability of the main processor included in the robot controller 10 is relatively low. It is difficult for the robot controller 10 to control an industrial robot 70 described later, at least in terms of the processing capability of the main processor.

[0015] Reference numeral 20 denotes a robot controller capable of controlling an industrial robot 70. Unlike the industrial robot 60, the industrial robot 70 does not have limited functions. The industrial robot 70 is a general-purpose industrial robot. The industrial robot 70 may be, for example, an articulated robot. The industrial robot 70 may be, for example, a robot having a serial link or a parallel link.

[0016] The robot controller 20 includes a servo drive unit 21 and a processor unit 22. Although details will be described later, the servo drive unit 21 corresponds to a unit obtained by omitting the main processor from the robot controller 10. The enclosure of the robot controller 10 and the enclosure of the servo drive unit 21 may be common or may be separate.

[0017] The processor unit 22 has an enclosure separate from that of the servo drive unit 21. The enclosure of the processor unit 22 and the enclosure of the servo drive unit 21 may remain as separate bodies, or may be integrated.

[0018] The processor unit 22 has a main processor. The processor unit 22 outputs the motion command values calculated by the main processor to the servo drive unit 21. The servo drive unit 21 drives one or more actuators of the industrial robot 70 in accordance with the motion command values from the processor unit 22. The main processor calculates motion command values for controlling the industrial robot 70 in accordance with general-purpose software. The functions of the industrial robot 70 realized by the general-purpose software may be minimal. For example, the manufacturer of the industrial robot 70 may bring both the industrial robot 70 and the robot controller 20 provided with general-purpose software capable of controlling the industrial robot 70 to the market. Note that the robot controller 20 provided with the general-purpose software can control industrial robots of various structures. The general-purpose software may be configured to be compatible with a plurality of types of industrial robots.

[0019] The processing power of the main processor in the processor unit 22 is higher than that of the main processor in the robot controller 10, but relatively lower. Note that "high processor processing power" can be rephrased as "relatively high processor clock frequency," "relatively high number of processor cores," or "relatively high number of processor threads." The robot controller 20 can control the industrial robot 70 as well as a functionally limited industrial robot 60. However, the robot controller 20 has difficulty controlling the robot system 80 or the social robot 90, which will be described later.

[0020] The robot controller 10 or robot controller 20 is called a "robot controller" because it controls a single robot 60 or 70.

[0021] The robot system 80 or social robot 90 is controlled by the robot system controller 30. The robot system 80 is a system that includes, for example, multiple industrial robots and peripheral equipment for the robots. Peripheral equipment is a device that works in cooperation with the robots to perform tasks. Specifically, peripheral equipment includes a mobile device for moving the robots, a turntable for rotating the robots, a conveyor for transporting workpieces to the robots, or a device that performs processing on workpieces transported by the robots, such as an aligner for aligning substrates as workpieces. Note that robots are also included in the peripheral equipment. A robot as peripheral equipment is, for example, a robot that transports workpieces to the robots.

[0022] Social robots 90 differ from industrial robots 70 in that they have a larger number of actuators, or they include devices other than actuators for robot operation. These devices other than actuators include, for example, cameras for capturing images of the surrounding environment, or mobile devices for robot movement.

[0023] The robot system controller 30 comprises a servo drive unit 21 and a general-purpose computer 31. The servo drive unit 21 is the same as the servo drive unit 21 of the robot controller 20.

[0024] Computer 31 is connected to the servo drive unit 21 instead of the processor unit 22. Computer 31 is, for example, an IPC (Industrial PC). Computer 31 may also be a commercially available computer. However, this does not preclude the manufacturer of the robot or social robot 90 from putting computer 31 on the market. Computer 31 has a main processor that calculates operation command values. The processing power of the main processor of computer 31 may be higher than the processing power of the main processor of the processor unit 22. A higher processing power for the main processor of computer 31 is advantageous for controlling the robot system 80 or the social robot 90.

[0025] The main processor of computer 31 calculates the operation command values ​​for the robot, peripheral devices, or social robot 90 according to the software corresponding to the robot system 80 or social robot 90. Users of the robot system 80 or social robot 90 can optimize the control of the robot system 80 or social robot 90 to their usage environment by creating software for the robot system controller 30 or customizing general-purpose software. For example, a user may incorporate their own AI-based learning tool into the software, allowing the social robot 90 to learn while in use. This allows the operation of the social robot 90 to be adapted to the usage environment. Using a general-purpose computer 31 as the robot controller increases the degree of freedom of the software related to the control of the robot or robot system.

[0026] Furthermore, a servo drive unit 32 from another manufacturer can be connected to the computer 31 in place of the servo drive unit 21, or together with the servo drive unit 21. The servo drive unit 32 from another manufacturer can be used, for example, to drive peripheral equipment. Because the robot system controller 30 allows the use of a servo drive unit 32 from a manufacturer other than the robot manufacturer, the control flexibility of the robot system 80 or social robot 90 is increased.

[0027] As described above, the robot controller system can be expanded from low-spec robot control to high-spec robot control. This system related to the robot controller is highly expandable and flexible.

[0028] (Structure of the robot controller that enables high expandability) Figure 2 shows the schematic structure of the robot controller 10 described above. The robot controller 10 includes an enclosure 19. The enclosure 19 houses a drive board 11, which will be described later, and a slot 15 into which a board different from the drive board 11 is mounted. The enclosure 19 may be box-shaped.

[0029] The robot controller 10 includes a drive board 11. The drive board 11 is a module that drives the robot's actuators. Figure 3 illustrates the configuration of the drive board 11. Note that the configuration of the drive board 11 is not limited to that shown in Figure 3.

[0030] The drive board 11 has a servo board 112 that includes a servo CPU 111. The servo board 112 in Figure 3 includes servo CPUs 111 corresponding to the number of actuators that can be connected to the robot controller 10. The servo board 112 includes one servo CPU 111 for each of the robot's motion axes.

[0031] The servo board 112 may include fewer servo CPUs 111 than the number of actuators.

[0032] Furthermore, the servo board 112 may include one servo CPU 111. One servo CPU 111 may support all of the robot's actuators, for example, all six of the robot's motion axes. Alternatively, one servo CPU 111 may support not only all of the robot's motion axes but also two external axes of the robot's peripheral system.

[0033] The servo CPU 111 drives the actuator based on the operation command values ​​calculated by the main processor 121, which will be described later. The servo CPU 111 is an example of a first processor. The drive board 11 is an example of a drive module or a first module.

[0034] In this specification, a "module" may consist of one printed circuit board, multiple printed circuit boards, or one or more printed circuit boards housed in an enclosure.

[0035] The drive board 11 has an amplifier board 113. The amplifier board 113 is interposed between the servo board 112 and the actuator. The amplifier board 113 supplies power from the power supply board 114 to each actuator according to the signal from the servo board 112. The first actuator, second actuator, ... are driven by the power supply. The robot connected to the robot controller 10 operates. Note that the amplifier board 113 of the drive board 11 may be omitted. If the amplifier board 113 of the drive board 11 is omitted, the robot to which the drive board 11 is connected may have an amplifier installed.

[0036] Returning to Figure 2, the robot controller 10 includes a control board 12. The control board 12 is a module that calculates motion command values ​​for driving the robot's actuators. As shown in Figure 3, the control board 12 has a main processor 121. The main processor 121 calculates motion command values ​​according to dedicated software stored in memory 122. The main processor 121 is a processor with relatively low processing power. The dedicated software may be software for minimum functionality to control a specific robot, for example, an industrial robot with limited functionality. The dedicated software corresponds to the main processor 121 with low processing power. The main processor 121 is an example of a second processor. The control board 12 is an example of a control module or a second module.

[0037] The control board 12 is mounted in slot 15, as shown in Figure 2. The control board 12 is powered from slot 15. Slot 15 is an example of a mount. The control board 12 mounted in slot 15 is housed in enclosure 19. The control board 12 can be removed from slot 15.

[0038] The control board 12 mounted in slot 15 is connected to the drive board 11. The connection between the drive board 11 and the control board 12 is a network connection using a specific protocol. Preferably, the specific protocol is one that guarantees real-time performance. A protocol that guarantees real-time performance improves the accuracy of robot control. The specific protocol may be, for example, EtherCAT (registered trademark). Since EtherCAT is an open protocol, a general-purpose computer 31 can be connected to the drive board 11 relatively easily, as will be described later. Note that the specific protocol is not limited to EtherCAT.

[0039] As shown in Figure 2 or Figure 3, the drive board 11 has a first connector 115 for network connection. The control board 12 has a second connector 123 for network connection. The first connector 115 or the second connector 123 is a plug, and the second connector 123 or the first connector 115 is a socket into which the plug is inserted. By connecting the first connector 115 and the second connector 123, the drive board 11 and the control board 12 are connected via a network. The network control unit 124 of the control board 12 is the master, and the network control unit 116 of the drive board 11 is the slave.

[0040] As described above, the robot controller 10 comprises a drive board 11 including a servo CPU 111, a control board 12 including a main processor 121 connected to the drive board 11 via a network connection of a specific protocol, a slot 15 in which the control board 12 is mounted, and an enclosure 19.

[0041] Figure 4 shows the schematic structure of the servo drive unit 21. Figure 5 is a block diagram of the extended robot controller, including the servo drive unit 21.

[0042] As mentioned above, the servo drive unit 21 is equivalent to the robot controller 10 with the main processor 121 omitted. The servo drive unit 21 in Figure 4 has the same enclosure 19 as the robot controller 10. The servo drive unit 21 also has a drive board 11 and slots 15. The drive board 11 and slots 15 are the same as those of the robot controller 10. The basic structure of the robot controller 10 can be adapted for the servo drive unit 21.

[0043] The servo drive unit 21 does not have a control board 12. In Figure 4, the control board 12 is shown virtually outside the enclosure 19. Instead of the control board 12, a communication board 13 is installed in slot 15 of the servo drive unit 21. The communication board 13 installed in slot 15 is housed in the enclosure 19. The communication board 13 installed in slot 15 can be removed from slot 15. The communication board 13 has a third connector 131. The third connector 131 is connected to the first connector 115 of the drive board 11. The third connector 131 has the same shape as the second connector 123.

[0044] The communication board 13 has a port 132. Port 132 is a port for network connection to the drive board 11. Port 132 opens to the outside of the enclosure 19. A connector for the communication cable 133 is connected to port 132.

[0045] As mentioned above, the servo drive unit 21 is connectable to the processor unit 22. The processor unit 22 is connected to the drive board 11 via port 132 and third connector 131. The connection between the servo drive unit 21 and the processor unit 22 is a network connection using a specific protocol. The communication board 13 has a relay function in the network connection between the processor unit 22 and the drive board 11. The communication board 13 is an example of a communication module.

[0046] The processor unit 22 has a main processor 221. The main processor 221 has higher processing power than the main processor 121 of the control board 12. The main processor 221 calculates operation command values ​​according to general-purpose software stored in memory 222. The general-purpose software may be software for controlling industrial robots in general. Industrial robots are, for example, articulated robots. The main processor 221, with its relatively high processing power, can handle general-purpose software. The main processor 221 is an example of a third processor.

[0047] The processor unit 22 has a network control unit 223. The network control unit 223 is connected to port 132 of the communication board 13 via a communication cable 133 connected to port 224. The network control unit 223 is the master in the network connection.

[0048] The processor unit 22 outputs operation command values ​​calculated according to general-purpose software to the servo drive unit 21. The processor unit 22 is an example of a dedicated controller for an industrial robot 70.

[0049] The servo drive unit 21 can also be connected to a general-purpose computer 31. The servo drive unit 21 is selectively connected to either the general-purpose computer 31 or the processor unit 22. The computer 31 is connected to the drive board 11 via port 132 and third connector 131. The connection between the servo drive unit 21 and the computer 31 is a network connection using a specific protocol.

[0050] Computer 31 has a main processor 311. The main processor 311 has higher processing power than the main processor 221 of the processor unit 22. The main processor 311 calculates operation command values ​​according to the software stored in memory 312. The software may be, for example, software created for the robot system 80 or social robot 90 to be controlled, or software customized from general-purpose software. The main processor 311, with its high processing power, can handle such software. The main processor 311 is an example of a fourth processor.

[0051] Computer 31 has a network control unit 313. The network control unit 313 is connected to port 132 of the communication board 13 via a communication cable 133 connected to port 314. The network control unit 313 is the master in the network connection.

[0052] Computer 31 can also be connected to a servo drive unit 32 manufactured by another company, separate from the servo drive unit 21. Computer 31 controls the robot or its peripheral equipment through the servo drive unit 32 manufactured by another company. The main processor 311, which has high processing power, calculates the operation command values ​​for the servo drive unit 32 manufactured by another company according to the software for controlling the robot or its peripheral equipment. The connection between computer 31 and the servo drive unit 32 manufactured by another company may be a network connection using a specific protocol. However, the connection between computer 31 and the servo drive unit 32 manufactured by another company is not limited to a network connection using a specific protocol.

[0053] (How to design a robot controller) Figure 6 is a flowchart illustrating the design method for a robot controller in an extended robot controller system.

[0054] In step S11 after the start, the robot or robot system to be controlled is set. As an example, as shown in Figure 1, one of the following is selected: an industrial robot 60 with limited functionality, an industrial robot 70 with unlimited functionality, a robot system 80, or a social robot 90. The robot or robot system to be controlled is not limited to these.

[0055] Once the robot or robot system to be controlled is defined, the number of actuators to be controlled and the functions of the robot's peripheral equipment are determined. In the following step S12, a control unit capable of handling the actuators to be controlled and the robot's peripheral equipment is selected. As an example, the control unit may be a robot controller 10 including a computer 31, a processor unit 22, or a control board 12, as shown in Figure 1.

[0056] If the robot to be controlled is an industrial robot 60 with limited functionality and a small number of actuators, a robot controller 10 including a control board 12 is selected. If the robot to be controlled is an industrial robot 70 with more actuators than the industrial robot 60 or with peripheral equipment, a processor unit 22 is selected. If the robot to be controlled is a robot system 80 or a social robot 90 with an even larger number of actuators or with peripheral equipment, a computer 31 is selected.

[0057] When a robot controller 10 including a control board 12 is selected, the drive board 11 and the control board 12 are connected via a network connection of a specific protocol. The design process in Figure 6 is completed in step S13 by combining the robot controller 10 with dedicated software corresponding to the robot to be controlled.

[0058] If the processor unit 22 is selected, in step S14, the servo drive unit 21 is connected to the processor unit 22 to configure the robot controller 20. The connection between the processor unit 22 and the servo drive unit 21 is made via a network connection using a specific protocol. Then, in step S15, the design process shown in Figure 6 is completed by combining the robot controller 20 with general-purpose software. The general-purpose software corresponds to the robot to be controlled.

[0059] If computer 31 is selected, in step S16, a servo drive unit is selected according to the actuator and peripheral equipment to be controlled. For example, as shown in Figure 1, the servo drive unit is selected from either servo drive unit 21 or servo drive unit 32 from another manufacturer. The number of servo drive units to be selected is set according to the number of actuators to be controlled and the number of servo drive units that can be connected to the IPC.

[0060] If a servo drive unit is selected in step S16, then in step S17, the servo drive unit is connected to the computer 31 to configure the robot system controller 30. The computer 31 may be connected to the servo drive unit 21, to a servo drive unit 32 from another manufacturer, or to both the servo drive unit 21 and the servo drive unit 32 from another manufacturer. At a minimum, the connection between the computer 31 and the servo drive unit 21 is a network connection of a specific protocol.

[0061] Then, in step S18, the design process shown in Figure 6 is completed by combining the robot system controller 30 with the software. The software is the software corresponding to the robot or robot system to be controlled, as set in step S11.

[0062] Note that in the flowchart of Figure 6, it is possible to change the order of the steps, add other steps, or omit some steps. For example, after setting the robot or robot system to be controlled in step S11, a servo drive unit corresponding to the robot or robot system to be controlled may be set (steps S13, S14, or S16), and then a control unit corresponding to the servo drive unit may be selected (step S12).

[0063] Furthermore, the order of steps S14 and S15 can be swapped. The order of steps S17 and S18 can also be swapped.

[0064] (Robot control method) Figure 7 is a flowchart relating to the robot control method.

[0065] In step S21 after the start, a servo drive unit 21 or a servo drive unit 32 from another company is connected to the robot or robot system to be controlled. In step S21, a robot controller 10 including a drive board 11 may also be connected to the robot to be controlled.

[0066] In the subsequent step S22, a control unit corresponding to the robot or robot system to be controlled is selected. As an example, the control unit selected is one of the following: a computer 31, a processor unit 22, or a robot controller 10 including a control board 12, as shown in Figure 1. Note that if the robot controller 10 is connected to the robot to be controlled in step S21, the control board 12 has already been selected as the control unit.

[0067] In step S23, the servo drive unit is connected to the selected control unit. The servo drive unit is the servo drive unit connected to the robot or robot system to be controlled in step S21. Specifically, it is the servo drive unit 21, a servo drive unit 32 from another manufacturer, or the drive boat 11 of the robot controller 10. The connection between the control unit and the servo drive unit is a network connection using a specific protocol.

[0068] In step S24, the control unit calculates an operation command value, and in step S25, the servo drive unit receives the operation command value generated by the control unit and drives the actuator of the robot or robot system.

[0069] In the flowchart shown in Figure 7, it is possible to change the order of the steps, add other steps, or omit some steps. For example, the order of steps S21 and S22 can be swapped.

[0070] (Effects and Benefits) The robot controller 10 comprises a drive board 11, a slot 15, a control board 12 mounted in the slot 15, and an enclosure 19. The control board 12 has a main processor 121, and the drive board 11 and the control board 12 are connected by a network connection of a specific protocol. Upon receiving the operation command values ​​calculated by the main processor 121, the servo CPU 111 of the drive board 11 can control, for example, a low-spec industrial robot 60.

[0071] A communication board 13 can be installed in slot 15 in place of the control board 12. When the communication board 13 is installed, a robot controller without the main processor 121, i.e., a servo drive unit 21, is configured. The communication board 13 has a port 132 for network connection. The processor unit 22 or computer 31 can be connected to the port 132 which opens outside the enclosure 19. The processor unit 22 and the computer 31 are each connected to the drive board 11 via a network connection using a specific protocol. In other words, there is a standardized interface for the robot controller's expansion system. The standardized interface is the interface between the drive board 11 that drives the actuators and the control board 12 that controls the actuators, between the drive board 11 and the processor unit 22, or between the drive board 11 and the computer 31. The control board 12, processor unit 22, or computer 31 can be connected to the drive board 11 in any configuration.

[0072] The structure of the robot controller 10, in which the drive board 11 and slot 15 are housed in the enclosure 19, is easily expandable.

[0073] Furthermore, because the servo drive unit 21 has a communication board 13, the processor unit 22 or computer 31 can be selectively and easily connected to the servo drive unit 21. The structure of the servo drive unit 21, which has a port 132 that opens to the outside of the enclosure 19, enhances the expandability of the robot controllers 20 and 30.

[0074] Furthermore, a control board 12 or a communication board 13 is selectively installed in slot 15. A structural difference arises between the robot controller 10 equipped with the control board 12 and the servo drive unit 21 without the control board 12. Even if the enclosure 19 is common, confusion between the robot controller 10 and the servo drive unit 21 is prevented. Note that the enclosure 19 of the robot controller 10 may have a cover that closes the opening for the port 132.

[0075] Regarding network connectivity, the drive board 11 is a slave, while the control board 12, processor unit 22, and computer 31 are masters. By selectively connecting the control board 12, processor unit 22, and computer 31 to the drive board 11, the robot controllers 10, 20, and 30 can operate, respectively.

[0076] Furthermore, by making certain protocols open protocols, the types of computers 31 that can be connected to the drive board 11 will increase. Adopting open protocols as interfaces between modules will further enhance the expandability of the robot controllers 10, 20, and 30, as well as increase the flexibility of expansion.

[0077] Furthermore, in the robot controller 10, the connection between the drive board 11 housed in the enclosure 19 and the control board 12 is made by connecting the first connector 115 and the second connector 123. The wiring inside the enclosure 19 is simple.

[0078] (modified version) Figure 8 shows a modified robot controller 100. Figure 9 is a block diagram of the robot controller 100. The robot controller 100 includes a control board 12. The control board 12 is mounted in a slot 15. The control board 12 is network-connected to the drive board 11 via a first connector 115 and a second connector 123.

[0079] As previously mentioned, the control board 12 has a main processor 121. The control board 12 also has a port 132. The port 132 opens to the outside of the enclosure 19.

[0080] Port 132 is connected, for example, to a general-purpose computer 31 via a communication cable 133. The computer 31 is network-connected to the drive board 11.

[0081] The drive board 11 receives the operation command values ​​calculated by the main processor 121 of the control board 12 and the operation command values ​​calculated by the computer 31, and drives the robot or its peripheral equipment. For example, the drive board 11 may receive the operation command values ​​calculated by the main processor 121 of the control board 12 and drive a specific actuator of the robot, and receive the operation command values ​​calculated by the computer 31 and drive another actuator.

[0082] Alternatively, a processor unit 22 may be connected to port 132 of the robot controller 100 instead of the computer 31.

[0083] In Figures 2, 3, 8, or 9, the connection between the drive board 11 and the control board 12 is not limited to the connection by the first connector 115 and the second connector 123. The drive board 11 and the control board 12 may be connected by wires or cables. Similarly, in Figure 4 or 5, the connection between the drive board 11 and the communication board 13 is not limited to a connector connection. The drive board 11 and the communication board 13 may be connected by wires or cables.

[0084] Furthermore, the form of the drive module, control module, and communication module is not limited to a board. The mounting form is not limited to slot 15. Depending on the form of the control module or communication module, the mounting form may be such that the control module or communication module can be attached or detached.

[0085] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0086] (Appearance) The embodiments described above are specific examples of the following embodiments.

[0087] (Aspect 1) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A robot controller (10, 21) equipped with the following.

[0088] The robot controller (10, 21) includes a drive module (11). The function of the drive module (11) is, for example, that of a servo driver for an actuator.

[0089] In a robot controller (10) with a control module (12) mounted on a mount (15), the drive module (11) and the control module (12) are connected via a network connection of a specific protocol. An operation command value from the processor (121) of the control module (12) is sent to the drive module (11), and the processor (111) receives the operation command value and drives the actuator.

[0090] In robot controllers (21) where the control module (12) is not mounted on the mount (15), a control unit having a processor that calculates motion command values, specifically a dedicated controller (22) or general-purpose computer (31) described later, is connected to the drive module (11). The control unit and the drive module (11) are connected by a network connection using a specific protocol. Because the connection to the drive module (11) is a network connection using a specific protocol, a control module (12) having a processor (121) can be connected to the drive module (11), as can a control unit having a different processor.

[0091] Furthermore, since the robot controllers (10, 21) are equipped with mounts (15), the modules attached to the mounts (15) can be changed, as will be described later. By changing the modules, a control module (12) having a processor (121) can be connected to the drive module (11), and a control unit having a different processor can also be connected to the drive module (11).

[0092] In other words, the robot controllers (10, 21) have a structure that is easily expandable.

[0093] (Aspect 2) The control module (12) is further mounted on the mount (15) and includes a processor (121) that calculates the operation command value. The control module (12) is the master in the network connection, and the drive module (11) is the slave. Robot controller (10, 21) as described in Embodiment 1.

[0094] (Aspect 3) The control module (12) mounted on the mount (15) is the master in the network connection, and the drive module (11) is the slave. Robot controller (10, 21) as described in Embodiment 1.

[0095] According to embodiment 2 or 3, a control unit separate from the control module (12) can be connected to the drive module (11) via a network connection. If the drive module (11) is a slave, a different control unit can be connected to the drive module (11) via a network instead of the control module (12).

[0096] (Aspect 4) The aforementioned specific protocol is an open protocol. A robot controller (10, 21) according to any one of embodiments 1 to 3.

[0097] Adopting an open protocol for network connectivity simplifies network connection to the drive module (11) and increases the types of control units that can be connected to the drive module (11). The adoption of an open protocol further enhances the expandability of the robot controllers (10, 21) and increases the flexibility of expansion.

[0098] (Appendix 5) The drive module (11) has a first connector (115) for network connection, and the control module (12) has a second connector (123) for network connection that is connected to the first connector (115). A robot controller (10, 21) according to any one of embodiments 1 to 4.

[0099] Since the drive module (11) and the control module (12) are connected by the connection between the first connector (115) and the second connector (123), the wiring inside the enclosure (19) is simplified.

[0100] (Aspect 6) A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and further comprises a communication module (13) having a port (132) that opens to the outside of the enclosure (19) for network connection. A robot controller (10, 20, 21) according to any one of embodiments 1 to 5.

[0101] (Aspect 7) A communication module (13) is mounted on the mount (15) in place of the control module (12), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection. A robot controller (10, 20, 21) according to any one of embodiments 1 to 5.

[0102] As in embodiment 6 or 7, once the communication module (13) is mounted on the mount (15), the port (132) opens to the outside of the enclosure (19). The dedicated controller (22) or general-purpose computer (31) described above can be connected to the drive module (11) via the port (132) and the communication module (13).

[0103] The use of the communication module (13) enables expansion of the robot controllers (10, 20, 21). The mount (15) is selectively fitted with either the control module (12) or the communication module (13). There are structural differences between the robot controller (10) equipped with the control module (12) and the robot controller (21) to which a dedicated controller (22) or a general-purpose computer (31) is connected. This prevents confusion between the robot controller (10) and the robot controller (21).

[0104] (Pattern 8) The system further includes a dedicated controller (22) connected to the port (132) and having a processor (221) that calculates the operation command value, The dedicated controller (22) and the drive module (11) are connected by a network connection of the specific protocol. A robot controller (20) according to embodiment 6 or 7.

[0105] (Aspect 9) A dedicated controller (22) is connected to the port (132), which has a processor (221) that calculates the operation command value and has a higher processing capacity than the processor (121). The dedicated controller (22) and the drive module (11) are connected by a network connection of the specific protocol. A robot controller (10, 21) according to embodiment 6 or 7.

[0106] According to embodiment 8 or 9, the processor (221) of the dedicated controller (22) has higher processing power than the processor (121) of the control module (12). When the dedicated controller (22) is connected to the robot controller (21), the robot controller (21) and the dedicated controller (22) can control a more multi-functional robot. Since processors with different processing powers can be connected to the drive module (11), the robot controllers (10, 20, 21) can handle everything from low-spec to high-spec robot control.

[0107] (Aspect 10) The dedicated controller (22) is the master in the network connection. A robot controller (10, 20, 21) according to embodiment 8 or 9.

[0108] As mentioned above, since the drive module (11) is a slave in the network connection, the dedicated controller (22) can connect to the drive module (11) via a network connection instead of the control module (12). This allows for easy replacement of the control module (12) or the dedicated controller (22) in robot controllers (10, 21) that have the drive module (11) without requiring any design changes.

[0109] (Aspect 11) A control module (12) including a processor (121) that calculates the operation command value and a communication module (13) are selectively mounted on the mount (15). The processor (221) of the dedicated controller (22) has higher processing power than the processor (121) of the control module (12). The dedicated controller (22) outputs the operation command values ​​of the industrial robot (70). A robot controller (10, 20, 21) according to any one of embodiments 8 to 10.

[0110] The dedicated controller (22) has a processor (221) with relatively high processing power, making it possible to control, for example, an industrial robot (70) which is a multi-joint robot.

[0111] (Aspect 12) A general-purpose computer (31) having a processor (311) that calculates the operation command value is connected to the port (132). The general-purpose computer (31) and the drive module (11) are connected by a network connection of the specific protocol. Robot controllers (10, 21, 30) as described in embodiments 6 to 11.

[0112] Since the general-purpose computer (31) and the drive module (11) are connected by a network connection of a specific protocol, the general-purpose computer (31) can be connected to the drive module (11) instead of the control module (12) or the dedicated controller (22).

[0113] (Aspect 13) The general-purpose computer (31) is the master in the network connection. Robot controller (10, 21) as described in embodiment 12.

[0114] Since the drive module (11) is a slave in the network connection, the general-purpose computer (31) can connect to the drive module (11) via a network connection instead of the control module (12) or the dedicated controller (22). The control module (12), dedicated controller (22), or general-purpose computer (31) can be swapped with the drive module (11) without any design changes.

[0115] (Aspect 14) A dedicated controller (22) including a processor (221) that calculates the operation command value and the general-purpose computer (31) are selectively connected to the port (132). The processor (311) of the general-purpose computer (31) has higher processing power than the processor (221) of the dedicated controller (22). A robot controller (10, 20, 21, 30) according to embodiment 12 or 13.

[0116] (Aspect 15) The processor (311) of the general-purpose computer (31) has higher processing power than the processor (121) of the control module (12) and the processor (221) of the dedicated controller (20). A robot controller (10, 20, 21, 30) according to any one of embodiments 12 to 14.

[0117] As in embodiment 14 or 15, if the processor (311) of the general-purpose computer (31) has relatively high processing power, the general-purpose computer (31) can control a more multi-functional robot or a robot system including a robot. Since processors with different processing powers can be selectively connected to the drive module (11), the robot controllers (10, 20, 21, 30) can handle everything from low-spec to high-spec robot control.

[0118] (Aspect 16) The general-purpose computer (31) outputs the operation command values ​​of the robot system (80) including the robot. A robot controller (10, 20, 21, 30) according to any one of embodiments 12 to 15.

[0119] As mentioned above, if the processor (311) has high processing power, the general-purpose computer (31) can output the operation command values ​​for the robot system (80).

[0120] (Aspect 17) The robot is a social robot (90). Robot controllers (10, 20, 21, 30) as described in embodiments 12 to 16.

[0121] If the processor (311) has high processing power, the general-purpose computer (31) can output motion command values ​​for a social robot (90) that has more actuators than an industrial robot (60, 70), or that includes devices other than the actuators used for robot operation.

[0122] (Aspect 18) A drive unit (32) is connected to the general-purpose computer (31) to drive the robots (60, 70, 90) or the robot system (80) devices in response to the operation command values ​​from the general-purpose computer (31). A robot controller (10, 20, 21, 30) according to embodiment 16 or 17.

[0123] Because the general-purpose computer (31) is highly expandable, it is possible to connect a drive unit (32) separate from the robot controller (21). If both the robot controller (21) and the drive unit (32) are connected to the general-purpose computer (31), then the general-purpose computer (31) can be used to control more complex robot systems or robots.

[0124] (Aspect 19) A first module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the first module (11) includes a first processor (111) that receives an operation command value and drives the actuator, A second module (12) is connected to the first module (11) by a network connection of a specific protocol, and the mount (15) on which the second module (12), which includes a second processor (121) that calculates the operation command value, can be attached, The first module (11), the mount (15), and the enclosure (19) that houses the module mounted on the mount (15), A robot controller (10, 21) equipped with the following.

[0125] (Aspect 20) The robot controller (21) described in Embodiment 19, A third module (13) is mounted on the mount (15) and connected to the first module (11), and the third module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A dedicated controller (22) is connected to the port (132) and is connected to the first module (11) by a network connection of the specific protocol, and has a third processor (221) that calculates the operation command value and has a third processor (221) with higher processing power than the second processor (121), A robot controller (20) equipped with the following.

[0126] The robot controller (20) may be configured to include a robot controller (21) having a first module (11) but not a second module (12), and a dedicated controller (22) connected to the robot controller (21) by a network connection of a specific protocol.

[0127] (Aspect 21) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A control module (12) is mounted on the mount (15) and includes a processor (121) that calculates the operation command value, A robot controller (10) equipped with the following.

[0128] (Aspect 22) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A control module (12) is mounted on the mount (15) and includes a processor (121) that calculates the operation command values ​​according to dedicated software for a specific robot (60), A robot controller (10) equipped with the following.

[0129] (Aspect 23) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A control module (12) is mounted on the aforementioned mount (15) and includes a processor (121) that calculates the operation command values ​​according to dedicated software for an industrial robot (60) limited to specific functions, A robot controller (10) equipped with the following.

[0130] (Aspect 24) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) mounted on the mount (15) and connected to the drive module (11), the communication module (13) having a port (132) that opens to the outside of the enclosure (19) for network connection, A dedicated controller (22) connected to the port (132) and having a processor (221) that calculates the operation command value, A robot controller (20) equipped with the following.

[0131] (Aspect 25) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) mounted on the mount (15) and connected to the drive module (11), the communication module (13) having a port (132) that opens to the outside of the enclosure (19) for network connection, A dedicated controller (22) connected to the port (132) and having a processor (221) that calculates the operation command values ​​according to general-purpose software for the robots (60, 70), A robot controller (20) equipped with the following.

[0132] (Aspect 26) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) mounted on the mount (15) and connected to the drive module (11), the communication module (13) having a port (132) that opens to the outside of the enclosure (19) for network connection, A dedicated controller (22) connected to the port (132) and having a processor (221) that calculates the operation command values ​​according to general-purpose software for industrial robots (60, 70), A robot controller (20) equipped with the following.

[0133] (Aspect 27) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). Robot system controller (30).

[0134] (Aspect 28) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). The computer (31) calculates the operation command value according to the software corresponding to the robots (80, 90) to which the drive module (11) is connected. Robot system controller (30).

[0135] (Aspect 29) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). The computer (31) calculates the operation command value according to the software corresponding to the social robot (90) to which the drive module (11) is connected. Robot system controller (30).

[0136] (Aspect 30) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). The computer (31) calculates the operation command value according to the software corresponding to the robot system (80), which includes the robot and peripheral equipment to which the drive module (11) is connected. Robot system controller (30).

[0137] (Aspect 31) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). A drive unit (32) is connected to the computer (31) to drive the robots (60, 70, 80, 90) or peripheral equipment of the robots in response to the operation command values ​​from the computer (31). Robot system controller (30).

[0138] (Aspect 32) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). A drive unit (32) is connected to the computer (31) to drive the robots (60, 70, 80, 90) or peripheral equipment of the robots in response to the operation command values ​​from the computer (31). The computer (31) calculates the operation command values ​​according to the software corresponding to the robots (80, 90) to which the drive module (11) is connected, and the robots (80, 90) to which the drive unit (32) is connected, or the peripheral devices. Robot system controller (30).

[0139] (Aspect 33) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). A drive unit (32) is connected to the computer (31) to drive the robots (60, 70, 80, 90) or peripheral equipment of the robots in response to the operation command values ​​from the computer (31). The computer (31) calculates the operation command value according to the software corresponding to the social robot (90) to which the drive module (11) or the drive unit (32) is connected. Robot system controller (30).

[0140] (Aspect 34) A drive module (11) connected to at least the actuators of the robot (60, 70, 80, 90), the drive module (11) includes a processor (111) that receives motion command values ​​and drives the actuators, A mount (15) on which modules (12, 13) connected to the drive module (11) by a network connection of a specific protocol can be attached, An enclosure (19) housing the drive module (11) and the mount (15), A communication module (13) is mounted on the mount (15) and connected to the drive module (11), and the communication module (13) has a port (132) that opens to the outside of the enclosure (19) for network connection, A computer (31) having a processor (311) that calculates the operation command value to be output to the drive module (11) is connected to the port (132). A drive unit (32) is connected to the computer (31) to drive the robots (60, 70, 80, 90) or peripheral equipment of the robots in response to the operation command values ​​from the computer (31). The computer (31) calculates the operation command value according to the software corresponding to the robot system (80), which includes the robot and peripheral equipment to which the drive module (11) or the drive unit (32) is connected. Robot system controller (30).

[0141] (Aspect 35) A drive unit (32) connected to a robot or a peripheral device of a robot, which receives an operation command value and drives the robot or the peripheral device, A computer (31) that calculates the operation command values ​​to be output to the drive unit (32) according to software corresponding to the robot system (80) including the robot or the peripheral equipment, Robot system controller (30).

[0142] (Aspect 36) A drive unit (32) connected to a social robot (90) and which receives an operation command value to drive the social robot (90), The system includes a computer (31) that calculates the operation command values ​​to be output to the drive unit (32) according to the software corresponding to the social robot (90), Robot system controller (30).

[0143] (Aspect 37) Set the robot or robot system to be controlled (60, 70, 80, 90), From multiple types of control units (12, 22, 31) with different processing capabilities, select a control unit (12, 22, 31) that corresponds to the function of the robot or robot system (60, 70, 80, 90) to be controlled. The selected control units (12, 22, 31) are connected to the drive module (11) via a network connection of a specific protocol. The software corresponding to the robot or robot system (60, 70, 80, 90) to be controlled is combined with the selected control unit (12, 22, 31). How to design a robot controller.

[0144] (Aspect 38) Connect the drive module (11) to the robot to be controlled (60, 70, 80, 90), From among several types of control units (12, 22, 31) with different processing capabilities, select a control unit (12, 22, 31) that has the processing capability corresponding to the functions of the robots (60, 70, 80, 90). The selected control units (12, 22, 31) are connected to the drive module (11) via a network connection of a specific protocol. The drive module (11) receives the motion command values ​​generated by the control units (12, 22, 31) and drives the actuators of the robots (60, 70, 80, 90). Robot control methods. [Explanation of symbols]

[0145] 10 Robot Controllers 100 Robot Controllers 11. Drive board (drive module) 111 Servo CPU (Processor) 115 First connector 12. Control board (control module) 121 Main Processor (Processor) 123 Second connector 13. Communication board (communication module) 131 Third connector 132 ports 15 slots (mounts) 19 Enclosure 20 Robot Controllers 21 Servo Drive Unit 22 Processor Unit (Dedicated Controller) 221 Main Processor (Processor) 31. Computer (General-purpose computer) 311 Main Processor (Processor) 32. Servo drive units from other manufacturers 60 Industrial Robots 70 Industrial Robots 80 Robot Systems 90 Social Robots

Claims

1. A drive module connected to at least a robot actuator, the drive module including a processor that receives motion command values ​​and drives the actuator, A mount on which a module connected to the aforementioned drive module via a network connection of a specific protocol is detachably attached, The enclosure housing the drive module and the mount, A communication module mounted on the aforementioned mount and connected to the aforementioned drive module, the communication module having a port that opens to the outside of the enclosure for network connection, A dedicated controller connected to the port and having a processor for calculating the operation command value, A robot controller in which the dedicated controller and the drive module are connected by a network connection of the specific protocol.

2. A drive module connected to at least a robot actuator, the drive module including a processor that receives motion command values ​​and drives the actuator, A mount on which a module connected to the aforementioned drive module via a network connection of a specific protocol is detachably attached, The enclosure housing the drive module and the mount, A communication module mounted on the aforementioned mount and connected to the aforementioned drive module, the communication module having a port that opens to the outside of the enclosure for network connection, A general-purpose computer having a processor for calculating the operation command value is connected to the port. A robot controller in which the general-purpose computer and the drive module are connected by a network connection of the specific protocol.

3. In the robot controller according to claim 1 or 2, The aforementioned specific protocol is an open protocol. Robot controller.

4. In the robot controller according to claim 1, The dedicated controller is the master in the network connection. Robot controller.

5. In the robot controller according to claim 1, The mount is selectively equipped with a control module including a processor for calculating the operation command value and a communication module. The processor of the dedicated controller has higher processing power than the processor of the control module. The dedicated controller outputs the motion command values ​​of the industrial robot. Robot controller.

6. In the robot controller according to claim 5, The control module is the master in the network connection, and the drive module is the slave. Robot controller.

7. In the robot controller according to claim 6, The drive module has a first connector for network connection, and the control module has a second connector for network connection that is connected to the first connector. Robot controller.

8. In the robot controller according to claim 2, The general-purpose computer is the master in the network connection. Robot controller.

9. In the robot controller according to claim 2, A dedicated controller including a processor for calculating the operation command value and the general-purpose computer are selectively connected to the port. The processor of the general-purpose computer has higher processing power than the processor of the dedicated controller. Robot controller.

10. In the robot controller according to claim 9, The general-purpose computer outputs the operation command values ​​for the robot system, including the robot. Robot controller.

11. In the robot controller according to claim 10, The aforementioned robot is a social robot. Robot controller.

12. In the robot controller according to claim 10 or 11, A drive unit is connected to the general-purpose computer to drive the robot or the devices of the robot system in response to the operation command values ​​from the general-purpose computer. Robot controller.

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