CN109070357A - Industrial robot system, control system and method, controller and calculating equipment - Google Patents
Industrial robot system, control system and method, controller and calculating equipment Download PDFInfo
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- CN109070357A CN109070357A CN201780001635.5A CN201780001635A CN109070357A CN 109070357 A CN109070357 A CN 109070357A CN 201780001635 A CN201780001635 A CN 201780001635A CN 109070357 A CN109070357 A CN 109070357A
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Abstract
A kind of industrial robot system, the industrial robot control system (10) includes: controller (11) and calculates equipment (12), controller (11) is connect with the operation machine of industrial robot, is calculated equipment (12) and is connect with controller (11)；Controller (11) is for running the corresponding type 1 programming of the first operational order to realize first kind function: calculating equipment (12) and is used for and runs the corresponding type 2 programming of the second operational order, to realize the corresponding second class function of type 2 programming by controller (11)；Wherein, type 1 programming is different from type 2 programming.The industrial robot control system can reduce the load of controller (11), improve robot reliability of operation.It further discloses a kind of control system and method, controller and calculates equipment.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to an industrial robot system, a control system and method, a controller and computing equipment.
[ background of the invention ]
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices for industrial fields, can automatically perform work, and are machines which rely on their own power and control capabilities to realize various functions. The system has the characteristics of programmability, personification, universality, adoption of an electromechanical integration technology and the like, and is widely applied to the industries of automobile complete vehicles, automobile parts, engineering machinery, rail transit, low-voltage electric appliances, electric power, IC equipment, military industry, tobacco, finance, medicine, metallurgy, printing and publishing and the like.
However, since the function control software of the existing industrial robot is deployed on the internal controller of the industrial robot, most of the functions of the industrial robot are integrated in the function control software. Along with the continuous increase of industrial demands, functions integrated in function control software are more and more complex, and the requirements on an internal controller on the industrial robot are higher and higher, so that the production and maintenance costs of the industrial robot are increased, and the reliability of the industrial robot is reduced.
[ summary of the invention ]
The invention mainly solves the technical problem of providing an industrial robot system, a control system and method, a controller and computing equipment, and can solve the problems of high production and maintenance cost and low operation reliability of the industrial robot.
In order to solve the technical problems, the invention adopts the technical scheme that: there is provided a control system of an industrial robot comprising: the controller is connected with an operating machine of the industrial robot, and the computing equipment is connected with the controller; the controller is used for receiving a user operation instruction, judging that the user operation instruction is a first operation instruction or a second operation instruction, and running a first type program corresponding to the first operation instruction to realize a first type function when the user operation instruction is the first operation instruction; when the user operation instruction is a second operation instruction, sending the second operation instruction to the computing equipment; the computing equipment is used for receiving a second operation instruction sent by the controller and running a second type program corresponding to the second operation instruction so as to realize a second type function corresponding to the second type program through the controller; wherein the first type of program is different from the second type of program.
In order to solve the technical problems, the invention adopts the technical scheme that: an industrial robot system is provided, the industrial robot comprising: an operating machine; the controller is connected with the operating machine and used for receiving the user operation instruction, judging that the user operation instruction is a first operation instruction or a second operation instruction, and running a first type program corresponding to the first operation instruction to realize a first type function when the user operation instruction is the first operation instruction; when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing equipment to run the first type of program so as to realize the first type of function; the computing equipment is connected with the controller and is used for receiving the second operation instruction sent by the controller and running a second type program corresponding to the second operation instruction so as to realize a second type function corresponding to the second type program through the controller, run the second type program and realize the second type function through the controller; wherein the first type of program is different from the second type of program.
In order to solve the technical problems, the invention adopts the following technical scheme: there is provided a controller for an industrial robot, comprising: a first communication interface for connecting an operating machine of an industrial robot; the second communication interface is used for connecting the computing equipment of the industrial robot; the third communication interface is used for receiving a user operation instruction; the processing circuit is coupled with the first communication interface, the second communication interface and the third communication interface, and is used for receiving a user operation instruction through the third communication interface, judging that the user operation instruction is a first operation instruction or a second operation instruction, running a first type of program corresponding to the first operation instruction when the user operation instruction is the first operation instruction, and controlling the operating machine to realize a first type of function through the first communication interface; when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing equipment through the second communication interface, so that the computing equipment runs a second type program corresponding to the second operation instruction, and a second type function corresponding to the second type program is realized through the controller; wherein the first type of program is different from the second type of program.
In order to solve the technical problems, the invention adopts the following technical scheme: a computing device for an industrial robot is provided, comprising: the fourth communication interface is used for connecting a controller of the industrial robot; and the processor is coupled with the fourth communication interface, receives the second operation instruction sent by the controller through the fourth communication interface, and runs the second type program corresponding to the second operation instruction so as to realize the second type function corresponding to the second type program through the controller.
In order to solve the technical problems, the invention adopts the following technical scheme: there is provided a control method of an industrial robot, comprising: receiving a user operation instruction; judging whether the user operation instruction is a first operation instruction or a second operation instruction; if the first operation instruction is the first operation instruction, the controller of the industrial robot runs the first type of program to realize the first type of function; if the second operation instruction is the second operation instruction, the controller sends the second operation instruction to the computing equipment of the industrial robot, so that the computing equipment runs the second type of program to realize the second type of function; wherein the first type of program is different from the second type of program.
The invention has the beneficial effects that: different from the prior art, the invention allocates part of the control functions of the industrial robot to the computing equipment by arranging the computing equipment connected with the controller, and only the first type of programs corresponding to the first type of functions are reserved on the controller, so that the main body of the control operation part is not limited to one controller, the controller and the computing equipment can respectively run the corresponding programs, further, the new operation functions can be increased, the load of the controller can be further reduced, the requirement on the controller is further reduced, and the running reliability of the robot is improved.
[ description of the drawings ]
Fig. 1 is a schematic diagram of a framework of an embodiment of a control system of an industrial robot according to the invention;
fig. 2 is a schematic frame diagram of an embodiment of the industrial robot system according to the invention;
fig. 3 is a schematic structural view of an embodiment of the industrial robot controller of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the computing device for an industrial robot of the present invention;
fig. 5 is a schematic flow chart of an embodiment of a control method of an industrial robot according to the invention;
fig. 6 is a schematic flow chart of step S120 in an embodiment of the control method of an industrial robot according to the present invention.
[ detailed description ] embodiments
Referring to fig. 1, an embodiment of a control system 10 for an industrial robot according to the present invention includes: a controller 11 and a computing device 12.
The controller 11 is specifically connected with an operating machine of the industrial robot, and is configured to receive a user operation instruction, determine that the user operation instruction is a first operation instruction or a second operation instruction, and run a first type of program corresponding to the first operation instruction to implement a first type of function when the user operation instruction is the first operation instruction; when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing device 12.
Optionally, when the controller 11 determines that the user operation instruction is the first operation instruction or the second operation instruction, the controller 11 first obtains an operation parameter of the user operation instruction, and determines that the user operation instruction matched with the operation parameter is the first operation instruction or the second operation instruction according to a corresponding relationship between the operation parameter and the operation instruction in a preset functional program table.
As will be readily understood, the controller 11 is the core of the industrial robot, and is connected to the manipulator of the industrial robot through a power line and a data line, so as to supply power to the manipulator and transmit the power to each action part of the manipulator through the power line.
Specifically, in order to meet industrial requirements, the controller 11 is mostly composed of chips such as an ARM series, a DSP series, a POWERPC series, and an Intel series with high computing power, and in some application scenarios, because the existing general-purpose chip cannot completely meet the requirements of some industrial robots in terms of price, performance, integration level, interfaces, and the like in terms of functions and performance, a specific processor and a required interface can be integrated together according to needs, so that the design of a peripheral circuit of a system can be simplified, the size of the system can be reduced, and the cost can be reduced. Meanwhile, the controller 11 may be a portable device or a fixed device, depending on different requirements.
Optionally, the first type of function may include at least one of motion control, flow control, IO control, timing functions, and the like. More specifically, the first type of function may be at least one of individually moving each joint of the manipulator, moving the manipulator in a cartesian coordinate system, reading encoder values of each joint of the manipulator, reading cartesian coordinates of a tool center point on the manipulator, powering on and off, enabling or disabling a driver corresponding to the manipulator, reading and setting input and output states of a controller, safety control, reading and execution of execution code in the middle of a robot control program, pausing and restarting of an execution process, viewing and changing of internal variables of the control program, and the like. It is easy to understand that the first type program, i.e. the program that needs to be run to implement the first type function, may specifically be related software, plug-in, etc. capable of controlling to implement the first type function, and is integrated on the controller 11 in this embodiment.
In this embodiment, since the first type of function only retains the most basic control function of the industrial robot related to normal production, in an application scenario, the first type of program only runs on the single chip of the controller 11, thereby improving the reliability of the industrial robot to a certain extent. Of course, the method is not limited to the single chip microcomputer in other application scenarios. It is easy to understand that, because the basic functions required by the robot do not change frequently, that is, the functions inside the basic function software do not need to change frequently, when developing a product, only programs corresponding to other functions required by the robot need to be developed correspondingly, thereby reducing unnecessary labor and time, and therefore, the product development cycle can be reduced by such a design.
Meanwhile, the computing device 12 is connected to the controller 11, and is configured to receive the second operation instruction sent by the controller 11, and run a second type program corresponding to the second operation instruction, so as to implement a second type function corresponding to the second type program through the controller 11.
Wherein the computing device 12 may be at least one of an industrial control computer, a server, or even the controller 11 itself. Specifically, the computing device 12 and the controller 11 are connected through a communication network. In some application scenarios, the connection may also be through a wireless network or a wired network, etc.
It will be readily appreciated that the first type of program described above is different from the second type of program.
In one application scenario, the execution of the second type of program by the computing device 12 and the implementation of the second type of function by the controller 11 includes: the second type of program is run on the computing device 12 to obtain an executable file and the executable file is sent to the controller 11 through a connection with the controller 11 to implement the second type of functionality. For example, when the robot is an articulated robot, the executable file may be a simple data file such as coordinates, angles, moving speeds, accelerations, and the like of the movement of each joint corresponding to the corresponding time point when the robot completes the second function. At this time, although the controller 11 is still running, only these simple executable files need to be run, which greatly reduces the running load of the controller 11.
Specifically, the second type of function may include a basic operation application and an extended function application. The basic operation application is an application function necessary for helping a user to complete robot control, and specifically can be at least one of zero calibration, coordinate system measurement, file management, file editing, compiling, downloading, debugging and the like; the extended function application is an application function used by different users, and specifically may include at least one of arc welding, spot welding, soft PLC, soft floating, force control, conveyor belt tracking, and the like.
Since the computing device 12 may not be limited to the controller 11, a general industrial control computer or an external server, etc., having a good performance may be selected. It is easy to understand that one computing device 12 may correspond to one operating machine, and may also correspond to a plurality of operating machines to meet different use requirements of users, and is not limited specifically herein. In one application scenario, the computing device 12 may also be the controller 11 itself of the industrial robot system 10, in which case it is readily understood that the controller 11 is capable of running both a first type of program to implement a first type of function and a second type of program to implement a second type of function.
In the present embodiment, the basic operation application and the extended function application, i.e., the second type of functions, related to the industrial robot are integrated on the computing device 12, instead of being integrated on the controller 11 together with the first type of functions. In this case, the main body of the control operation member is not limited to one controller 11, and the controller 11 and the computing device 12 can respectively run corresponding programs, so that new operation functions can be further added, the load of the controller 11 can be further reduced, the requirement on the controller 11 is further reduced, and the running reliability of the robot is improved. Meanwhile, if only the programs corresponding to the basic operation functions and the extended functions need to be upgraded subsequently, only the computing device 12 and/or the second type of programs need to be upgraded, and each controller 11 and/or the first type of programs do not need to be upgraded, so that the maintenance cost and the software use cost are greatly reduced.
Referring to fig. 2, an embodiment of an industrial robot system 20 of the present invention comprises: an operator 21, a controller 22, and a computing device 23.
The industrial robot is divided into a rectangular coordinate robot, a SCARA robot, an articulated robot, a parallel robot and the like according to a mechanical structure, and different industries adopt different industrial robots according to different use requirements. At present, the industrial robot market is mainly an articulated industrial robot.
The controller 22 is connected to the manipulator 21, and is configured to receive a user operation instruction, determine that the user operation instruction is a first operation instruction or a second operation instruction, and run a first type of program corresponding to the first operation instruction to implement a first type of function when the user operation instruction is the first operation instruction; when the user operation instruction is a second operation instruction, sending the second operation instruction to the computing device 23; and the computing device 23 is connected to the controller 22, and is configured to receive the second operation instruction sent by the controller 22, and run a second type program corresponding to the second operation instruction, so as to implement a second type function corresponding to the second type program through the controller 22.
In this embodiment, the functions and connection modes of the controller 22 and the computing device 23 are substantially the same as those in the embodiment of the control system of the industrial robot of the present invention, and for details, refer to the above embodiment, which is not described herein again.
It is noted that the manipulator 21 is the body structure and mechanical transmission system of the industrial robot system 20, and is the main control object of the controller 22, and the computing device 23. It will be readily appreciated that the manipulator 21 is an important component of the industrial robot system 20, as well as the supporting base and actuators therein, and that all calculations, analyses and programming are ultimately carried out by the manipulator 21 to achieve various complex movements. In one application scenario, the basic structure of the manipulator 21 mainly includes: the transmission components, the body and the traveling mechanism, the arm, the wrist, the hand and the like, and the components complete preset actions under the control of the controller 22, so as to complete specific tasks in a matching way. Due to the particularity of the working environment and working properties of the industrial robot, the materials of the manipulator 21 include carbon structural steel and alloy structural steel, aluminum alloy and other light alloy materials, fiber reinforced alloy, ceramic, fiber reinforced composite material, and the like, which are not limited herein.
In an application scenario, the operating machine needs to execute the second type of function without departing from the computing device 12, at this time, the computing device 12 needs to run the second type of program, and download the executable file obtained by running the second type of program to the controller 11, and then after the computing device 12 is detached, the controller 11 runs the executable file to control the operating machine to implement the second type of function.
For example, the user may need to operate the machine to perform a palletizing function without disengaging the computing device 12. In this case, after the computer device 12 receives the stacking command, the computing device 12 determines that the stacking function corresponding to the stacking command belongs to the second type of function, then the computing device 12 runs a program corresponding to the stacking function, and downloads an executable file obtained by running the program into the controller 11, and then, after the computer device 12 is disconnected from the controller 11, the controller 11 may control the operating machine to implement the stacking function by running the executable file.
Referring to fig. 3, an embodiment of a controller 30 of an industrial robot according to the present invention includes: a first communication interface 31 for connecting an operating machine of an industrial robot; a second communication interface 32 for connecting a computing device of the industrial robot; a third communication interface 33 for receiving a user operation instruction; the processing circuit 34 is coupled to the first communication interface 31, the second communication interface 32 and the third communication interface 33, and configured to receive a user operation instruction through the third communication interface 33, determine that the user operation instruction is a first operation instruction or a second operation instruction, run a first type of program corresponding to the first operation instruction when the user operation instruction is the first operation instruction, and control the operating machine through the first communication interface 31 to implement a first type of function; when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing device through the second communication interface 32, so that the computing device runs a second type of program corresponding to the second operation instruction, and a second type of function corresponding to the second type of program is realized through the controller 30.
It will be readily appreciated that the first type of program described above is different from the second type of program.
After the third communication interface 33 obtains the operation parameters of the user operation instruction, the processing circuit 34 determines that the user operation instruction matched with the operation parameters is the first operation instruction or the second operation instruction according to the corresponding relationship between the operation parameters and the operation instructions in the preset functional program table. Through the implementation of the above embodiment, the processing circuit 34 receives the user operation instruction through the third communication interface 33, determines that the user operation instruction is the first operation instruction or the second operation instruction, runs the first type program corresponding to the first operation instruction when the user operation instruction is the first operation instruction, and controls the operating machine to implement the first type function through the first communication interface 31; when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing device through the second communication interface 32, so that the computing device runs a second type of program corresponding to the second operation instruction, and a second type of function corresponding to the second type of program is realized through the controller 30.
The processing circuit 34 may be at least one of a processor, a server, a computer, and the like.
The related contents of the functions of the controller 30 are the same as those in the above embodiments of the control system of the industrial robot and the industrial robot system of the present invention, and please refer to the above embodiments for details, which are not described herein again.
Referring to fig. 4, the computing device 40 for an industrial robot of the present invention comprises: a fourth communication interface 41 for connecting a controller of an industrial robot; and the processor 42 is coupled to the fourth communication interface 41, receives the second operation instruction sent by the controller through the fourth communication interface 41, and runs the second type program corresponding to the second operation instruction, so as to implement the second type function corresponding to the second type program through the controller.
Through implementation of the above embodiment, the processor 42 receives the second operation instruction sent by the controller through the fourth communication interface 41, and runs the second type program corresponding to the second operation instruction, so as to implement the second type function corresponding to the second type program through the controller.
It should be noted that the related contents of the functions of the computing device 40 in this embodiment are the same as those in the above-mentioned embodiment of the control system of the industrial robot of the present invention and the embodiment of the industrial robot system of the present invention, and specific reference is made to the above-mentioned embodiment, which is not described herein again.
Referring to fig. 5, an embodiment of a control method for an industrial robot according to the present invention includes:
step S110, receiving a user operation instruction;
the user operation instruction can be specifically received by the controller and/or the computing equipment; in the present embodiment, the data is specifically received by the controller.
Step S120, judging that the user operation instruction is a first operation instruction or a second operation instruction;
it will be readily understood that the judgment program may be executed by the controller when the above-described user operation instruction is received by the controller, and executed by the computing device when received by the computing device. Of course, in other application scenarios, the controller and the computing device may receive the above instructions at the same time and both execute the determination program; in this embodiment, the controller executes the determination program.
Step S131, if the operation instruction is a first operation instruction, the controller of the industrial robot runs a first type program to realize a first type function;
in other application scenarios, for example, when the computing device receives the user operation instruction and executes the determination program, and when the determination result is the first operation instruction, the computing device sends the instruction to the controller, so that the computing device runs the first type of program to implement the first type of function.
Step S132, if the operation instruction is a second operation instruction, the controller sends the second operation instruction to the computing equipment of the industrial robot, so that the computing equipment runs a second type program to realize a second type function;
in other application scenarios, for example, when the computing device receives the user operation instruction and executes the determination program, if the determination result is the second operation instruction, the computing device directly runs the first type of program to implement the first type of function.
It will be readily appreciated that the first type of program is different from the second type of program.
Optionally, referring to fig. 6, step S120 further includes:
step S121, obtaining operation parameters of a user operation instruction;
step S122, according to the corresponding relationship between the operation parameter and the operation instruction in the preset functional program table, determining that the user operation instruction matched with the operation parameter is the first operation instruction or the second operation instruction.
Through the implementation of the embodiment, the functions of the industrial robot are respectively integrated on the controller and the computing equipment, in this case, the main body of the control operation part is not limited to one controller, the controller and the computing equipment can respectively run corresponding programs, new operation functions can be further increased, the load of the controller can be further reduced, the requirement on the controller is further reduced, and the running reliability of the robot is improved. Meanwhile, if only the programs corresponding to the basic operation functions and the extended functions need to be upgraded subsequently, only the computing equipment and/or the second type of programs need to be upgraded, and each controller and/or the first type of programs do not need to be upgraded, so that the maintenance cost and the software use cost are greatly reduced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (15)
- A control system of an industrial robot, characterized in that the system comprises: a controller and a computing device, the controller being connected to the manipulator of the industrial robot, the computing device being connected to the controller;the controller is used for receiving a user operation instruction, judging that the user operation instruction is a first operation instruction or a second operation instruction, and running a first type program corresponding to the first operation instruction to realize a first type function when the user operation instruction is the first operation instruction; when the user operation instruction is the second operation instruction, sending the second operation instruction to the computing equipment;the computing equipment is used for receiving a second operation instruction sent by the controller and running a second type program corresponding to the second operation instruction so as to realize a second type function corresponding to the second type program through the controller;wherein the first class of programs is different from the second class of programs.
- The system of claim 1, wherein the controller determines that the user operation command is a first operation command or a second operation command, comprising:the controller obtains the operation parameters of the user operation instruction, and judges that the user operation instruction matched with the operation parameters is a first operation instruction or a second operation instruction according to the corresponding relation between the operation parameters and the operation instructions in a preset functional program table.
- The system of claim 1,the first type of function comprises at least one of motion control, flow control, IO control and timing function; the second type of function includes at least one of zero calibration, coordinate system measurement, file management, file editing, compiling, downloading, debugging, arc welding, spot welding, soft PLC, soft floating, force control, conveyor belt tracking.
- The system of claim 1,the controller is connected with the manipulator through a power line and a data line;the computing device is connected with the controller through a communication network.
- The system of claim 1,the executing the second type program corresponding to the second operation instruction to realize the second type function corresponding to the second type program through the controller includes: and operating a second type program corresponding to the second operation instruction to obtain an executable file, and sending the executable file to the controller so as to realize the second type function through the controller.
- An industrial robot system, characterized in that the industrial robot system comprises:an operating machine;the controller is connected with the operating machine and used for receiving a user operation instruction, judging that the user operation instruction is a first operation instruction or a second operation instruction, and running a first type of program corresponding to the first operation instruction to realize a first type of function when the user operation instruction is the first operation instruction; when the user operation instruction is the second operation instruction, sending the second operation instruction to the computing equipment;the computing device is connected with the controller and is used for receiving a second operation instruction sent by the controller and running a second type program corresponding to the second operation instruction so as to realize a second type function corresponding to the second type program through the controller;wherein the first class of programs is different from the second class of programs.
- The system of claim 6, wherein the controller determines that the user operation command is a first operation command or a second operation command, comprising:the controller obtains the operation parameters of the user operation instruction, and judges that the user operation instruction matched with the operation parameters is a first operation instruction or a second operation instruction according to the corresponding relation between the operation parameters and the operation instructions in a preset functional program table.
- A controller for an industrial robot, comprising:a first communication interface for connecting a manipulator of the industrial robot;a second communication interface for connecting a computing device of the industrial robot;the third communication interface is used for receiving a user operation instruction;the processing circuit is coupled to the first communication interface, the second communication interface and the third communication interface, and is configured to receive the user operation instruction through the third communication interface, determine that the user operation instruction is a first operation instruction or a second operation instruction, run a first type of program corresponding to the first operation instruction when the user operation instruction is the first operation instruction, and control the operating machine to implement a first type of function through the first communication interface; when the user operation instruction is the second operation instruction, sending the second operation instruction to the computing equipment through the second communication interface, so that the computing equipment runs a second type program corresponding to the second operation instruction, and realizing a second type function corresponding to the second type program through the controller;wherein the first class of programs is different from the second class of programs.
- The controller according to claim 8, wherein the processing circuit determines that the user operation command is a first operation command or a second operation command, and comprises:and after the third communication interface acquires the operating parameters of the user operating instruction, the processing circuit judges that the user operating instruction matched with the operating parameters is a first operating instruction or a second operating instruction according to the corresponding relation between the operating parameters and the operating instruction in a preset functional program table.
- The controller of claim 8,the controller comprises a single chip microcomputer, and the first type of program runs on the single chip microcomputer.
- The controller of claim 8,the controller is portable equipment or fixed equipment;
- a computing device for an industrial robot, comprising:the fourth communication interface is used for connecting the controller of the industrial robot;and the processor is coupled with the fourth communication interface, receives a second operation instruction sent by the controller through the fourth communication interface, and runs a second type of program corresponding to the second operation instruction so as to realize a second type of function corresponding to the second type of program through the controller.
- The computing device of claim 12,the computing device includes at least one of an industrial control computer, a server, and the controller itself.
- A method for controlling an industrial robot, characterized in that the method comprises:receiving a user operation instruction;judging whether the user operation instruction is a first operation instruction or a second operation instruction;if the first operation instruction is the first operation instruction, the controller of the industrial robot runs a first type program corresponding to the first operation instruction to realize a first type function;if the second operation instruction is the second operation instruction, the controller sends the second operation instruction to computing equipment of the industrial robot, so that the computing equipment runs a second type program corresponding to the second operation instruction to realize a second type function;wherein the first class of programs is different from the second class of programs.
- The method according to claim 14, wherein the determining that the user operation command is a first operation command or a second operation command comprises:acquiring operation parameters of the user operation instruction;and judging that the user operation instruction matched with the operation parameter is a first operation instruction or a second operation instruction according to the corresponding relation between the operation parameter and the operation instruction in a preset functional program table.
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| PCT/CN2017/077259 WO2018170665A1 (en) | 2017-03-20 | 2017-03-20 | Industrial robot system, control system and method, controller and computing device |
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| CN109070357B (en) | 2022-04-15 |
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