Robot Command Source Selection for Flexible Multi-Mode Control
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Solution Overview
Problem
Existing robot control systems do not effectively handle multiple operation instruction sources, limiting flexibility and adaptability in controlling robot behavior.
Innovation Solution
A robot control system that allows flexible operation by enabling multiple sources, including a program interpretation unit, an operation unit, a development support device, and an IEC program execution unit, with a selection unit to prioritize and generate commands based on these sources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single operation instruction source is used to control the robot, then the control system is simple, but the operational flexibility and adaptability are limited
Solution Approach 1:
The control system is designed to accept and process operation instructions from multiple different sources (teaching pendant, upper computer, and automatic program execution), making the system universal and adaptable to various operational scenarios. The selection unit enables the system to function in multiple modes depending on which source is active.
Solution Approach 2:
A selection unit is introduced as an intermediary component that receives operation instructions from multiple sources and selectively passes them to the robot controller. This mediator manages the complexity of handling multiple sources while maintaining a relatively simple overall system architecture.
2Adaptability or versatility
If multiple operation instruction sources are integrated, then the operational flexibility is improved, but the control system complexity increases
Solution Approach 1:
The control system is segmented into distinct functional modules: a selection unit for managing multiple instruction sources, a robot controller for executing commands, and individual execution paths for each source type. This segmentation allows the system to handle multiple scenarios without creating a monolithic complex structure.
Solution Approach 2:
The selection unit dynamically switches between different operation sources based on operational needs. The system can transition between teaching mode, automatic execution mode, and upper computer control mode, adapting its behavior without requiring structural changes.
Data Source
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AI summary
The robot control system includes a first control device and a second control device network-connected to the first control device to control a robot. The first control device includes a selection unit configured to enable any one of a plurality of sources that provide information about generation of a command instructing behavior of the robot, and a first communication unit configured to transmit a command generated according to the information from the enabled source in the plurality of sources to the second control device. The second control device includes a second communication unit configured to receive the command transmitted from the first control device, and a command value generation unit configured to sequentially generate a command value for driving each axis of the robot so as to provide the behavior instructed by the command from the first control device.