JPH09204208A - Control method in robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute inexpensive control and to eliminate a problem in point of control reliability by detecting a timer flag which is erected in terms of a software at every prescribed count value and outputting a control target. SOLUTION: A counter INC exists in timer interruption and the timer flag is set in CPU of a control part when the counter value becomes a set value after an increment. Then, it is normally detected whether or not the timer flag is set in CPU from a movement program at a robot device side and the target position of present movement is outputted to the driving part of the robot device when the timer flag is set in CPU. Therefore, the target position control of the driving part in the robot device, for example, a running part, is executed at every setting counter value of a timer. That is, interruption is executed in terms of the software through the use of the timer and control is executed at every prescribed cycle.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a control method in a robot apparatus.

[0002]

2. Description of the Related Art In a robot apparatus, when an operation is performed automatically, for example, when a certain distance is moved at a constant speed, a target position can be calculated and the robot apparatus can be moved every predetermined control cycle. Will be needed.

Conventionally, a real-time operating system (hereinafter referred to as a real-time OS) is used to perform such control.

[0004]

By the way, depending on the robot device, real-time O which is a large program.
There is a case where S is not necessary, and in this case, there is a method of using a hardware timer interrupt to perform control at predetermined time intervals.

However, depending on the robot device, even if a timer interrupt program is used to perform automatic operation, the program may become too large to be used.

Therefore, an object of the present invention is to provide a control method in a robot apparatus in which instead of a real-time OS, real-time control is performed by software interruption.

[0007]

In order to solve the above-mentioned problems, a control method in a robot apparatus according to the present invention is a method for controlling a drive section in a robot apparatus, wherein when the drive section is caused to perform a predetermined control, A timer interrupt routine provided in the control program causes the control CPU to set a timer flag after performing a predetermined count, and the control program detects the timer flag set in the control CPU. This is a control method for performing a predetermined drive.

According to the above control method, when controlling the drive unit of the robot apparatus, a timer flag is set by software for each predetermined count value, and the control target is output by detecting this timer flag. Therefore, compared to the case where the control is performed by using the real-time OS, the control can be performed at low cost.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION A real-time control method for a robot apparatus according to an embodiment of the present invention will be described below with reference to FIGS.

It should be noted that the drawings show a block diagram of a control system of the robot apparatus, and in the present embodiment, a case where the present invention is applied to one operation of the robot apparatus, for example, a moving operation will be described.

First, as shown in FIG. 1, in the [main] program of the control program in the robot apparatus,
[Menu] is included, and in this [Menu] there is a [Select Mode] screen.

[Mode selection] includes [origin detection / return], [manual], [auto / step], [edit],
Since there are items such as [load / save] and the control method of the present invention is particularly effective for automatic driving, the case where the item [auto / step] is selected will be described.

When [Auto / Step] is selected, [Start] is selected from [Mode change] as shown in FIG. 2, and the program is executed. Further, this execution program further includes [subroutine], [linear movement], etc., and in the present embodiment, this [linear movement] is selected.

As shown in FIG. 3, this [linear movement] includes items such as [step target value acquisition], [step initial], [during step], [step current value update], and the like. This [during step] includes items such as [timer flag reset] and [command value generation].

A separate "timer interrupt" routine is provided, and this "timer interrupt" routine includes
There is a [counter INC], and when it is incremented and the counter value reaches the set value, the timer flag is set to C of the control unit.
It is set in PU.

Then, from the movement program on the robot apparatus side, it is always detected whether or not the timer flag is set in the CPU, and the timer flag indicates CP.
When set to U, the current target position of movement is output to the drive unit of the robot apparatus.

Therefore, the target position control of the drive unit, for example, the traveling unit in the robot apparatus is performed for each set counter value of the timer. That is, the timer is used to interrupt the operation in software, and the control is performed every predetermined period.

The deviation between the actual position of the robot and the target position during movement is detected by a sensor and feedback control is performed. in this way,
When moving the robot device, that is, when controlling the traveling unit, a timer interrupt is always performed, a flag is set for each predetermined set counter value, and the control unit always determines whether or not this flag is set, When the flag is detected, the movement target is output, so that it is possible to realize control at a lower cost as compared with the case where control is performed using a real-time OS, and it is possible to achieve reliable control. There is no problem in terms of sex.

[0019]

As described above, according to the configuration of the present invention, when the drive unit of the robot apparatus is controlled, the timer flag is raised by software for each predetermined count value and the timer flag is detected. As a result, the control target is output, so that it is possible to perform control at a lower cost compared to the case where control is performed using a real-time OS, and there is no problem in terms of control reliability. .

[Brief description of drawings]

FIG. 1 is a block diagram showing a control program in a robot apparatus of the present invention.

FIG. 2 is a block diagram showing a control program in the robot apparatus.

FIG. 3 is a block diagram showing a linear movement program in a control program of the robot apparatus.

FIG. 4 is a block diagram showing a timer interrupt routine in the control program of the robot apparatus.

Claims (1)

[Claims] 1. A method of controlling a drive unit in a robot apparatus, wherein when a predetermined control is performed on the drive unit, a predetermined count is performed by a timer interrupt routine provided in a control program, A control method for a robot apparatus, comprising causing a control CPU to set a timer flag, and causing the control program to detect a timer flag set in the control CPU to perform predetermined driving.