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发明授权
CN105209225B 控制工业用机器人及外围设备的动作的控制系统及控制方法 有权

控制工业用机器人及外围设备的动作的控制系统及控制方法
摘要：
减轻程序的修正作业来实现作业所需要的合计时间的缩短。控制装置(30)具备：示教程序存储部(31)，其保存示教程序；命令解释部(32)，其将移动关联的命令送往移动关联命令分离部(33)，并执行非移动关联的命令；移动关联命令分离部(33)，其判定是同步区间的命令还是非同步区间的命令，并根据判定出的结果将移动关联命令按照每个装置进行分离；移动关联命令缓冲部(34)，其基于装置的移动状态来选择是将移动关联命令送往子轨迹计算部(36)还是储存于内部；主轨迹计算部(35)，其基于移动关联命令来针对进行同步控制的装置计算与移动相关的信息；子轨迹计算部(36)，其基于移动关联命令来针对非同步控制对象的装置计算与移动相关的信息；和电动机驱动部(37)，其执行各装置的动作。
摘要（英）：

A total time necessary for work is shortened by reducing program correcting. A control device 30 has a teaching program storage 31 in which a teaching program is stored, a command interpreter 32 for transmitting a movement-related command to a movement-related command separator 33, determining whether the command is a synchronous interval command or an asynchronous interval command and separating the movement-related command into command of each device according to a determination result, and executing a non-movement-related command, a movement-related command buffer 34 for selecting one of the transmission of the movement-related command to the sub-locus calculator 36 and accumulating movement-related command therein based on a device movement state, a main locus calculator 35 for calculating movement information on the device on which the synchronous control is performed from the movement-related command, a sub-locus calculator 36 for calculating movement information on the device that is not a synchronous control target based on the movement-related command, and a motor driver 37 for performing the operations of the devices.

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