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CN104903800A 运动控制器和使用这种运动控制器的机器人控制系统 无效 - 撤回

运动控制器和使用这种运动控制器的机器人控制系统
摘要：
提供了一种运动控制器和使用这种运动控制器的机器人控制系统。运动控制器(2)包括：信息共享装置(21)，其适用于共享表示至少一条信息的数据；多个功能模块(204、205、206、207)，其适用于通过使用信息共享装置(21)访问数据来在其中至少两个之间交换信息，并且基于交换的信息并行分别地执行多个功能；其中：接收交换的信息的功能模块适用于基于接收到的交换的信息执行功能，而不依赖于由其他功能模块(204、205、206、207)同时执行的功能；多个功能模块(204、205、206、207)共享具有多个计算单元(200、201、202、203)的至少一个处理器或可编程逻辑(20)；并且处理器的或可编程逻辑(20)上的计算单元(200、201、202、203)分别实施多个功能模块(204、205、206、207)。这导致以下缺点中的至少一个：由于缺少数据并行处理导致运动控制器的行为的实时程度相对较低；将新程序指令集成到运动控制器的处理器中的难度相对较高；运动控制器的处理器的计算能力是固定的并且是不可扩展的；不能使用运动控制器的处理器的最大计算能力。
摘要（英）：

A motion controller and a robot control system using the same are provided. The motion controller (2) includes: an information sharing means (21), being adapted for sharing data representing at least one piece of information; a plurality of function modules (204, 205, 206, 207), being adapted for exchanging the information between at least two of them by accessing the data through the information sharing means (21) and respectively carrying out a plurality of functions in parallel based on the exchanged information; wherein: the function module receiving the exchanged information is adapted to carry out the function based on the received exchanged information independently of the functions that are simultaneously carried out by the other function modules (204, 205, 206, 207); the plurality of function modules (204, 205, 206, 207) share at least one processor or programmable logic (20) having a multiple of computing units (200, 201, 202, 203); and the plurality of function modules (204, 205, 206,.207) are respectively implemented by means of the computing units (200, 201, 202, 203) of the processor or on the programmable logic (20). This causes at least one of the disadvantages as below: a relatively low degree of real-time behavior of the motion controller due to lack of parallel processing of data; a relatively high degree of difficulty in integration of new program instructions in the processor of the motion controller; the computing power of the processor of the motion controller is fixed and is not scalable; and the computing power of the processor of the motion controller cannot be used to its maximum.

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