Control system, control method, robot system, program, and storage medium

Abstract

To provide a control system, a control method, a robot system, a program and a storage medium that can exert performance of a robot more than before.SOLUTION: A control system controls a robot. The control system includes a first system and a second system. The first system transmits: a first command expressed with specifications different from a control command that is used for a controller of the robot; and incidental data corresponding to the first command. The second system generates a second command according to specifications of the control command on the basis of the first command and transmits the incidental data imparted to the second command to the controller.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to a control system, a control method, a robot system, a program, and a storage medium. [Background technology]

[0002] There is technology to control multiple robots with a common system. When controlling with a common system, it is desirable to maximize the performance of the robots. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-10614 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a control system, a control method, a robot system, a program, and a storage medium that can make the most of the performance of a robot. [Means for solving the problem]

[0005] A control system according to an embodiment controls a robot. The control system includes a first system and a second system. The first system transmits a first command expressed in a specification different from a control command used in a controller of the robot, and accompanying data corresponding to the first command. The second system generates a second command based on the first command in accordance with the control command specification, adds the accompanying data to the second command, and transmits the second command to the controller. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram illustrating a configuration of a control system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating specific functions of the control system according to the embodiment. [Figure 3] FIG. 2 is a schematic diagram illustrating a specific process in the control system according to the embodiment. [Figure 4] 10 is a table illustrating an example of common commands used in the control system according to the embodiment. [Figure 5] 10 is a table illustrating an example of a format of auxiliary data used in the control system according to the embodiment. [Figure 6] FIG. 2 is a schematic diagram illustrating a configuration example of a second system of the control system according to the embodiment. [Figure 7] FIG. 1 is a schematic diagram illustrating a configuration of a robot system according to an embodiment. [Figure 8] FIG. 10 is a schematic diagram illustrating a configuration of a robot system according to a modified example of the embodiment. [Figure 9] FIG. 1 is a schematic diagram illustrating a hardware configuration of a control system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present specification and the drawings, elements similar to those already explained are given the same reference numerals and detailed explanations will be omitted as appropriate.

[0008] FIG. 1 is a schematic diagram illustrating the configuration of a control system according to an embodiment. 1, a control system 100 according to the embodiment includes a first system 110, a second system 120, and a storage unit 130. The control system 100 according to the embodiment is used to control a robot according to common specifications, regardless of the control command specifications of the robot.

[0009] The first system 110 is responsible for schedule management, recognition, etc. in the control system 100. The second system 120 functions as a subordinate system of the first system 110, and controls the robot according to commands sent from the first system 110. The memory unit 130 stores data necessary for processing by the control system 100, data acquired by the control system 100, etc.

[0010] In the example shown in FIG. 1, at least one of robots 1 to 3 is controlled via a control system 100. The robots 1 to 3 have robot arms 11 to 13 and controllers 21 to 23, respectively. The controllers 21 to 23 control the robot arms 11 to 13, respectively. The control system 100 transmits commands to at least one of the controllers 21 to 23. The controllers 21 to 23 control the robot arms 11 to 13, respectively, in accordance with the commands transmitted from the control system 100.

[0011] For example, if the robots 1 to 3 are made by different manufacturers, the control command specifications for the robots 1 to 3 will be different. In this case, the control system 100 transmits commands that conform to the control command specifications of each controller. The "control command specifications" refer to a command format expressed in dedicated character strings or numbers that are uniquely determined for each manufacturer in order to control the robot. Control of the robot includes, for example, the operation of the robot, changing the system settings of the controller, starting or stopping a program, etc.

[0012] The first system 110 includes, for example, an action planning unit 111, a recognition unit 112, a production management unit 113, and a bookkeeping unit 114. The action planning unit 111 refers to a pre-created plan and manages which robot to move, when, and how for each task element. The recognition unit 112 collects data sent from cameras and other sensors. The collected data indicates the location of the workpiece to be transported by the robot, the status of the robot, etc.

[0013] For example, the storage unit 130 stores motion data indicating various basic motions of the robot. The behavior planning unit 111 refers to the motion data and modifies the motion data based on the data collected by the recognition unit 112. The behavior planning unit 111 transmits commands for operating the robot according to the plan together with the modified motion data.

[0014] The production management unit 113 manages the results of the robot's operations. The action planning unit 111 manages the progress of work by comparing the results managed by the production management unit 113 with the plan. The bookkeeping unit 114 stores the data acquired by the control system 100 in a database.

[0015] The second system 120 includes, for example, an operation control unit 121, a communication unit 122, a setting management unit 123, and a status monitoring unit . The operation control unit 121 generates commands to be sent to the robot's controller based on commands sent from the first system 110. The communication unit 122 is responsible for communication between the second system 120 and the robot. For example, the communication unit 122 converts the protocol of data sent to the robot and data received from the robot. The setting management unit 123 manages the initial setting values ​​for each operation of the robot. The status monitoring unit 124 monitors the status of the robot.

[0016] FIG. 2 is a schematic diagram showing specific functions of the control system according to the embodiment. An example of specific functions of the first system 110 and the second system 120 shown in Fig. 1 will be described with reference to Fig. 2. In Fig. 2, solid arrows represent control processes. Dashed arrows represent event notifications. Event notifications are notifications that are spontaneously sent to connected higher-level components within the system when a pre-programmed movement or signal input occurs.

[0017] For example, as shown in FIG. 2, the status monitoring unit 124 (shown in FIG. 1) functions as a status distribution control unit 124a. The operation control unit 121 (shown in FIG. 1) functions as a movement control unit 121a and a system control unit 121b. The communication unit 122 (shown in FIG. 1) functions as a communication control unit 122a. The recognition unit 112 (shown in FIG. 1) sends a command to the status distribution control unit 124a to distribute the robot's status. Upon receiving the command, the status distribution control unit 124a distributes the robot's status to the recognition unit 112. The recognition unit 112 acquires the distributed status. Furthermore, when a preset event occurs, the status distribution control unit 124a distributes the robot's status to the recognition unit 112.

[0018] The behavior planning unit 111 (shown in FIG. 1) transmits commands related to the movement control of the robot and the system control to the movement control unit 121a and the system control unit 121b, respectively. The movement control unit 121a receives commands related to the movement control of the robot. The movement control unit 121a adjusts the data of the received command and transmits the adjusted data to the controller of a specific robot via the communication control unit 122a. The movement control unit 121a also receives data related to the movement of the robot from the robot via the communication control unit 122a and calculates the posture of the robot. The movement control unit 121a transmits the calculated posture information to the behavior planning unit 111 and the production management unit 113 (shown in FIG. 1). The system control unit 121b transmits data related to system control, such as starting, stopping, and shutting down the robot controller, to the robot controller via the communication control unit 122a.

[0019] The communication control unit 122a controls communication between the second system 120 and the robot's controller. The movement control unit 121a, system control unit 121b, and status distribution control unit 124a transmit data to the robot via the communication control unit 122a. The communication control unit 122a converts the protocol of commands issued from the movement control unit 121a, system control unit 121b, and status distribution control unit 124a into a format that can be received and interpreted by the robot's controller.

[0020] The communication control unit 122a may be provided in common to the mobility control unit 121a, the system control unit 121b, and the status distribution control unit 124a, or may be provided for each of the mobility control unit 121a, the system control unit 121b, and the status distribution control unit 124a.

[0021] In the control system 100, the format of the commands transmitted between the first system 110 and the second system 120 does not depend on the control command specifications of the robot. For example, the specifications of the commands transmitted between the first system 110 and the second system 120 are different from the control command specifications of the robot. As an example, any one of a plurality of robots having different control command specifications can be connected to the control system 100. The format of commands transmitted between the first system 110 and the second system 120 is common regardless of the control command specifications of the robots connected to the control system 100. For example, the control command specifications of robots 1 to 3 shown in FIG. 1 are different from one another. The format of commands transmitted between the first system 110 and the second system 120 when robot 1 is connected to the control system 100 is the same as the format of commands transmitted between the first system 110 and the second system 120 when robot 2 is connected to the control system 100, and is common. As another example, in order to control the robots 1 to 3, a plurality of control systems 100 are connected to each of the robots 1 to 3. For example, the format of commands transmitted between the first system 110 and the second system 120 of the control system 100 connected to the robot 1 is the same as the format of commands transmitted between the first system 110 and the second system 120 of the control system 100 connected to the robot 2, and they are made common. As described above, a command expressed in a common specification, independent of the control command specification of the robot connected to the control system 100, is referred to as a "common command" or a "first command."

[0022] In the control system 100 according to the embodiment, the first system 110 functions as a common software platform that is independent of the control command specifications of the robot. From the perspective of the first system 110, the second system 120 functions as a controller interface for the robot.

[0023] As a specific example, status distribution conforms to the industrial_msgs::RobotStatus specification of the Robot Operating System - Industrial (ROS-i), and data distribution and acquisition are performed using specifications that provide other detailed data. Distribution of the robot arm's joint angles is performed using the ROS specification sensor_msgs::JointState. The movement control interface is based on the ROS-i specification trajectory_msgs::JointTrajectory, with the addition of functions not standardized in ROS-i, such as force feedback control. Communication between the second system 120 and the robot is performed using a socket communication function that conforms to the Transmission Control Protocol / Internet Protocol (TCP / IP) or User Datagram Protocol (UDP).

[0024] Specific processing in the control system according to the embodiment will be described with reference to FIGS.

[0025] FIG. 3 is a flowchart illustrating processing in the control system according to the embodiment. As shown in FIG. 3, the operation control unit 121 functions as an introduction unit 121-1 and an adjustment unit 121-2. The introduction unit 121-1 handles data in a format that is independent of the control command specifications of the robot. For example, the introduction unit 121-1 handles data that expresses the expected robot motions and behaviors using more generalized character strings or numerical values, without relying on the control command specifications defined by a specific robot manufacturer. Alternatively, the data handled by the introduction unit 121-1 may be expressed in accordance with the control command specifications defined by a specific robot manufacturer. In this case, regardless of the control command specifications of the robots connected to the control system 100, the introduction unit 121-1 handles data in a format that conforms to the control command specifications of the specific robot manufacturer. In other words, the control command specifications of the specific robot manufacturer are treated as common specifications for multiple robots with different control command specifications. The adjustment unit 121-2 adjusts the data according to the control command specifications of the robots actually connected to the control system 100.

[0026] Common commands for controlling the robot are defined in advance. The common commands are stored, for example, in the storage unit 130. The common commands are defined in a common language that is independent of the robot's control command specifications, and can be expressed as a string of characters. FIG. 4 is a table showing an example of common commands used in the control system according to the embodiment. As an example, common commands for controlling the robot are defined as shown in FIG. 4. A corresponding identification code is set for each common command.

[0027] Furthermore, each common command is associated with accompanying data required when controlling the robot using the common command. The accompanying data is information required for controlling the robot's operation. In addition, the format of the accompanying data is also defined to facilitate processing of the accompanying data by the adjustment unit 121-2. The accompanying data and its format are stored, for example, in the storage unit 130. Figure 5 is a table showing an example of the format of accompanying data used in the control system according to the embodiment. As an example, as shown in Figure 5, the format of the accompanying data is defined for each common command.

[0028] As described above, the behavior planning unit 111 transmits a common command to the second system 120 when controlling the robot. As shown in FIG. 3, the introduction unit 121-1 first periodically monitors whether a common command has been received (step S1). The introduction unit 121-1 determines whether a common command has been received (step S2). If the introduction unit 121-1 determines that a common command has been received, it identifies the received common command (step S3). The introduction unit 121-1 acquires an identification code corresponding to the identified common command. The identification code is expressed in a format that is easy for the adjustment unit 121-2 to process, and is used by the adjustment unit 121-2 to identify the common command. Furthermore, the introduction unit 121-1 acquires accompanying data corresponding to the identified common command (step S4). The introduction unit 121-1 assigns the identification code corresponding to the received common command to this accompanying data (step S5). The introduction unit 121-1 transmits the additional data and the identification code to the adjustment unit 121-2 (step S6).

[0029] As shown in FIG. 3, the adjustment unit 121-2 first periodically monitors whether data has been received (step S7). The adjustment unit 121-2 determines whether data has been received (step S8). If the adjustment unit 121-2 determines that data has been received, it converts the received identification code into a dedicated command (second command) according to the control command specifications of the robot (step S9). The adjustment unit 121-2 attaches the accompanying data transmitted from the introduction unit 121-1 to the dedicated command (step S10). The adjustment unit 121-2 appropriately executes a first process on the accompanying data (step S11).

[0030] The first process is executed in response to the transmitted dedicated command. In the first process, at least one of adding additional data to the auxiliary data, converting at least a portion of the auxiliary data, and deleting a portion of the auxiliary data is executed. For example, the additional data may be a definition of a coordinate system of a target position to which the robot arm is to move, acceleration, etc. In converting at least a portion of the auxiliary data, unit conversion, coordinate conversion, etc. are executed. Furthermore, if there is a limit to the amount of data that the controller can receive for a certain type of data, some of that data is deleted. For example, if data for nine axes is transmitted from the first system 110 to the robot, but the robot's controller can only receive data for up to eight axes, the data for one axis is deleted in the first process.

[0031] When the first processing is necessary, the adjustment unit 121-2 executes the first processing on the accompanying data. After executing the first processing, the adjustment unit 121-2 transmits the dedicated command and the adjusted accompanying data to the robot's controller (step S12). When the first processing is not necessary, the adjustment unit 121-2 transmits the dedicated command and the unadjusted accompanying data to the controller. The communication control unit 122a converts the protocol of the data to be transmitted to the controller and sends it to the controller.

[0032] FIG. 6 is a schematic diagram illustrating a configuration example of a second system of the control system according to the embodiment. For example, the second system 120 is configured with packages, which are software configuration units of ROS, for each control unit. In the example of FIG. 6, seven packages are used in the second system 120. A basic package is provided for each of the movement control unit 121a, the system control unit 121b, and the status distribution control unit 124a. An extension package is provided for functions or settings that need to be added or modified for each robot. For example, when connecting the control system 100 to a new type of robot, the basic package is left unchanged, and the extension package is changed (modified or replaced) as appropriate. On the other hand, a package functioning as the communication control unit 122a is provided for each controller in order to perform different conversion processing for each robot controller. In this way, the second system 120 uses first software, which is basic and independent of the controller, and second software, which extends the functions of the first software depending on the controller, making it easy to build a second system 120 that is compatible with each robot.

[0033] The communication control unit 122a may further have a function to generate a dummy response. The dummy response function is used when a robot controller is not connected to the control system 100 during construction of the control system 100. The communication control unit 122a does not actually send the dedicated command and accompanying data, but returns a response to the dedicated command and accompanying data to the first system 110. This allows the first system 110 to obtain a response similar to that of an actual robot, even if there is no robot that can respond when constructing the control system 100. For example, this can improve the efficiency of debugging work, etc., when constructing the control system 100.

[0034] The effects of the embodiment will be described. Traditionally, robots have been used for routine tasks such as simple assembly, painting, and welding. In recent years, their application has expanded to fields such as logistics and the service industry. In routine tasks, the same tasks are performed repeatedly, so multiple robots of the same type are generally used. In contrast, there is a growing demand for the automation of non-routine tasks in logistics and the service industry. In non-routine tasks, tasks that are not fixed are performed. For example, robots are required to perform actions according to the current situation based on data acquired by cameras, sensors, etc. Furthermore, in non-routine tasks, it is effective to combine multiple different types of robots to be able to respond to a wider variety of situations.

[0035] When automating multiple robots with different control command specifications, it is preferable for the host system to be able to use common commands that are independent of the robots' control command specifications. For example, the ROS-i Consortium has developed an Open Source Software (OSS) library to control multiple types of robots with a common communication interface. Using an OSS library allows the host system to control the robots via a common communication interface, regardless of the robots' control command specifications. However, when using an OSS library, only commands that can be executed by each robot are sent to the robot's controller. As a result, commands from a higher-level system cannot be used to control a robot in a specific way. This limits the robot's performance compared to its inherent capabilities. Furthermore, the OSS library cannot be applied to robots that cannot handle the operating conditions.

[0036] In the control system 100 according to the embodiment, the second system 120 generates dedicated commands based on common commands that are standardized and independent of the robot. Furthermore, the second system 120 assigns additional data to the dedicated commands when causing the robot to execute control corresponding to the dedicated commands. The robot refers to the additional data when executing control corresponding to the dedicated commands. By referring to the additional data, for example, it is possible to cause the robot arm to execute more precise movements. Alternatively, it is possible to execute control specific to the robot. Alternatively, it is possible to control a robot that cannot be controlled solely by dedicated commands converted from common commands. According to the embodiment, when a robot is controlled by a standardized system, the robot's performance can be further enhanced.

[0037] In the above-described embodiment, the introduction unit 121-1 acquires an identification code corresponding to a common command, and the adjustment unit 121-2 converts the identification code into a dedicated command. This example is not limiting, and the second system 120 may directly convert a common command into a dedicated command. In this case, however, the program for implementing the introduction unit 121-1 will be longer than the program for implementing the adjustment unit 121-2. By converting a common command into a dedicated command via an identification code, it is possible to prevent the program for one functional unit from becoming excessively long. This makes it easier to build and maintain the control system 100.

[0038] Preferably, the second system 120 performs a first process on the ancillary data. The first process includes at least one of adding additional data to the ancillary data, converting at least a portion of the ancillary data, and deleting a portion of the ancillary data. By performing the first process, the ancillary data is further optimized in accordance with the control command specifications of the robot. As a result, it is possible to further maximize the performance of the robot.

[0039] With regard to robots, the control of a vertically articulated robot arm is more complex than that of a horizontally articulated robot arm. For this reason, the amount of command data sent from a controller to a vertically articulated robot arm is larger than that of a horizontally articulated robot arm. In order to realize the inherent performance of a vertically articulated robot arm, it is preferable to attach data corresponding to the control of the robot arm to the command. For this reason, the control system 100 according to the embodiment is preferably used for a vertically articulated robot arm. In particular, the control system 100 according to the embodiment is preferably used for a robot arm having six or more drive axes.

[0040] FIG. 7 is a schematic diagram illustrating the configuration of a robot system according to an embodiment. A robot system 200 according to the embodiment includes a control system 100 and a robot connected to the control system 100. In the example shown in Fig. 7, the robot system includes a plurality of control systems 100 and a plurality of robots 1 to 3 connected to the plurality of control systems 100, respectively.

[0041] For example, the control command specifications of robots 1 to 3 are different from one another. However, even in this case, robots 1 to 3 can be controlled using the common control system 100. For example, by modifying or replacing the expansion package shown in FIG. 6 according to the control command specifications of robots 1 to 3, the control system 100 can be made compatible with any of the control command specifications of robots 1 to 3.

[0042] Furthermore, in the control system 100, as described above, accompanying data is added to the dedicated command and transmitted to the controller of each robot. This allows the robot to perform at its full potential. For example, the robot system 200 can improve the performance of the robot, thereby improving the efficiency and quality of work performed by the robot.

[0043] 7, the robot system 200 may include a host control system 150 connected to multiple control systems 100. The host control system 150 comprehensively manages the multiple control systems 100. The host control system 150 also links the control systems 100 together. For example, this makes it easy to have multiple robots work together to perform a single task.

[0044] FIG. 8 is a schematic diagram illustrating the configuration of a robot system according to a modified example of the embodiment. 8, the control system 100 includes one first system 110 and multiple second systems 120. Data is transmitted between the first system 110 and the multiple second systems 120. The multiple second systems 120 are connected to the robots 1 to 3, respectively.

[0045] 8, it is also possible to use the first system 110 in common with a plurality of second systems 120. In this way, the first system 110 manages the plurality of second systems 120 in an integrated manner.

[0046] FIG. 9 is a schematic diagram illustrating the hardware configuration of the control system according to the embodiment. The control system 100 is realized by one or more computers 90, as shown in Figure 9. The computer 90 includes a CPU 91, a memory 92, a communication interface 93, and a storage interface 94.

[0047] The memory 92 stores a program that controls the operation of the computer 90. The memory 92 stores a program necessary for the computer to function as at least one of the above-mentioned action planning unit 111, recognition unit 112, production management unit 113, bookkeeping unit 114, operation control unit 121, communication unit 122, setting management unit 123, and status monitoring unit 124. The program may be divided by function or at the source code level.

[0048] The computer 90 is connected to a network 95 via a communication interface 93. For example, a plurality of computers 90 transmit and receive data via the network 95, and the control system 100 is realized by the cooperation of the plurality of computers 90.

[0049] The computer 90 is connected to a storage device 96 via a storage interface 94. The storage device 96 is used as a storage unit 130. The storage device 96 may be incorporated into the computer 90.

[0050] The control system, control method, and robot system according to the above-described embodiments can enhance the performance of the robot. Furthermore, the same effect can be achieved by using a program that causes a computer to operate as a control system.

[0051] The above-mentioned various information processing may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other recording medium.

[0052] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, a computer reads a program from the recording medium and causes a CPU to execute instructions written in the program based on the program. The computer may acquire (or read) the program via a network.

[0053] At least part of the information processing may be performed by various software programs running on a computer (or embedded system) based on a program installed from a recording medium. This software may include, for example, an operating system (OS). This software may also include, for example, middleware that operates on a network.

[0054] The recording medium according to the embodiment stores a program that can cause a computer to execute the above-described various information processes. The recording medium according to the embodiment also includes a recording medium on which the program is stored by downloading it via a LAN or the Internet. The above-described processes may be performed based on multiple recording media.

[0055] The computer according to the embodiment includes one or more devices (for example, a personal computer, etc.) The computer according to the embodiment may include multiple devices connected via a network.

[0056] Although several embodiments of the present invention have been described above, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as set forth in the claims. Furthermore, the above-described embodiments can be implemented in combination with each other. [Explanation of symbols]

[0057] 1-3 robot, 11-13 robot arm, 21-23 controller, 90 computer, 91 CPU, 92 memory, 93 communication interface, 94 storage interface, 95 network, 96 storage device, 100 control system, 110 first system, 111 action planning unit, 112 recognition unit, 113 production management unit, 114 bookkeeping unit, 120 second system, 121 operation control unit, 121-1 introduction unit, 121-2 adjustment unit, 121a movement control unit, 121b system control unit, 122 communication unit, 122a communication control unit, 123 setting management unit, 124 status monitoring unit, 124a status distribution control unit, 130 memory unit, 150 upper control system, 200, 210 robot system

Claims

1. A computer to which a plurality of robots, each having a different control command specification for operating the robot, is connected, converting an identification code corresponding to a first command expressed in a common specification different from the control command specification used by the plurality of robots into a second command in accordance with the control command specification; adding additional data corresponding to the first command to the second command and transmitting the second command to a controller of the robot; computer.

2. A computer as described in claim 1, having the function of a communication unit that executes the transmission of the second command to which the additional data is attached.

3. Having a function as an operation control unit, The operation control unit Identifying the first command; acquiring the identification code corresponding to the first command; obtaining the auxiliary data corresponding to the identified first command from the stored auxiliary data; converting the identification code into the second command according to the control command specification; 3. A computer according to claim 1 or 2.

4. The computer according to any one of claims 1 to 3, wherein when the additional data is added to the second command, a first process is executed that includes at least one of adding additional data to the additional data, converting at least a portion of the additional data, and deleting a portion of the additional data.

5. 5. The computer according to claim 1, wherein when transmitting the second command to which the accompanying data has been added, the computer converts the second command into a format that can be received by the controller.

6. The computer according to any one of claims 1 to 5; the plurality of robots connected to the computer; A robot system equipped with

7. a plurality of said computers; the plurality of robots connected to the plurality of computers, respectively; The robot system of claim 6 , comprising:

8. A computer control method in which a plurality of robots, each having a different control command specification for operating the robot, are connected, comprising: The computer, converting an identification code corresponding to a first command expressed in a common specification different from the control command specification used by the plurality of robots into a second command in accordance with the control command specification; adding additional data corresponding to the first command to the second command and transmitting the second command to a controller of the robot; Control method.

9. The computer: Identifying the first command; obtaining the identification code corresponding to the first command; obtaining the auxiliary data corresponding to the identified first command from the stored auxiliary data; converting the identification code into the second command according to the control command specifications; adding the additional data to the converted second command and transmitting the second command to the controller; The control method according to claim 8.

10. A control method as described in claim 8 or 9, wherein when the computer is caused to add the ancillary data, a first process is executed which includes at least one of adding additional data to the ancillary data, converting at least a portion of the ancillary data, and deleting a portion of the ancillary data.

11. A control method described in any one of claims 8 to 10, wherein when the computer is caused to transmit the second command to which the additional data is attached, the second command is converted into a format that can be received by the controller.

12. A program that causes the computer to execute the control method according to any one of claims 8 to 11.

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