JPS62103709A - Robot control system by general compiler language - Google Patents

Abstract

PURPOSE:To prevent a robot from performing unexpected operation by controlling the version numbers of a source module and an object module and making them coincident with each other, generating a table which contains the history of a load module in linking operation as information, and generating a contents display instruction for the load module. CONSTITUTION:A single or plural object modules 5 which are required by a robot operation program to operate are linked together by linking operation 3, thereby generating the load module 6. The names of the single or plural object modules 5 at this time and the version numbers recorded in the files are read out to generate the link information table 8. This link information table 8 corresponds to the load module 6 and represents the source module 6 corresponding to the load module 6. The link information table 8 is referred to generate an instruction which displays the corresponding source module 4, and an operator grasps the contents of the load module 6.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a general-purpose computer in which a source module is generated by editing, an object module is generated by a compiling operation, and an executable load module is generated by a linking operation. We develop a robot control method that uses a compiler language to control robot motion.

[Conventional technology]

FIG. 2 is a block diagram showing a conventional example of a robot control method using a general-purpose compiler language.

In the robot motion program, a source module 4 is generated by the editing operation], an object module 5 is generated by the compiling operation 2, and a load module 6 in an executable format is generated by the linking operation 3.

These editing operations], compiling operation 2, and linking operation 3 are all operations performed by the operator. Both the object module 5 and the load module 6 are in a hidden format (binary format) that cannot be understood by the operator. The robot operates according to the load module 6, which is an executable format.

In the above method, since the operator can arbitrarily execute operations 1.2 and 3, for example, after executing link operation 3 for the same program, editing operation 1 corresponds to load module 6. source module 4
are lost, and the operator loses control of 8 of the load modules 6, creating a very difficult to use and dangerous situation.

[Problem that the invention seeks to solve]

In the above-mentioned robot control method using a general-purpose compiler language, each module is managed with a version number that indicates its history, but editing, compiling, and linking operations, deleting, copying, and purging and changing the version number of each module are not possible. Since this can be done arbitrarily, the correspondence between each module is left to the operator's operation, which is not always clear, and therefore there is a drawback that there are mainly dangerous situations in which the operating state of the robot cannot be grasped.

[Means for solving problems]

The robot control method using the general-purpose compiler of the present invention manages and matches the version numbers of the source module and object module, and uses the history of the load module during link operation as information (0 non-linked object module name and its version number). The present invention is characterized in that it creates a table with the contents of the load module and creates a command to display the contents of the load module.

(Function) By simply executing the load module contents display command, the operator can display the source module corresponding to the load module, and can understand the contents of the load module, that is, the operation contents of the robot seat, and can avoid unexpected situations. It becomes possible to prevent robot movement.

〔Example〕

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of a robot control system using a general-purpose compiler language according to the present invention.

In the figure, numerals 1 to 6 are the same as those in FIG.
This is added.

In this embodiment, the version numbers of the source module 4 and the object module 5 are managed by the version management unit 7 and made to match, and when the link operation is performed, the history of the load module 6 is displayed as information (the name of the object module that is linked and its version). A link information table 8 having a number) is created.

Next, the operation of this embodiment will be explained. A robot motion program is created as a source module 4 by editing operation 1. At this time, a version number representing the history is recorded in an area in the source module 4 file that cannot be operated by the operator, such as an extended data section, and is incremented by 1 each time editing operation 1 is repeated to distinguish it from others.

The object module 5 is created by compiling 3 the source module 4 . At this time, the version number held by the source module 4 is read, and the read version number is recorded in the object module 5 using the same means as the source module 4. These functions are realized by the version management section 7, and the correspondence between the source module 4 and the object module 5 becomes clear.

Next, the single or plural object modules 5 necessary for the robot operation program to operate are linked by a link operation 3, and a load module 6 is created. At this time, the name of the single or plural object modules 5 and the version number recorded in the file are read and a link information table 8 is created. This link information table 8 corresponds to the load module 6 and refers to the link information table 8 which represents the source module 4 corresponding to the load module 6. By creating instructions that can be displayed, the operator can
be able to grasp the contents of

[Effects of the Invention] As explained above, the present invention manages the version numbers of the source module and the object module, and when they match, the history of the load module is displayed as information (
By creating a table with the linked object module name and its version number and creating a command to display the content of the load module, you can display the content of the load module in hidden format, that is, the robot's operation content, and the robot itself. The operator can grasp the robot without having to move it, and can prevent unexpected robot movements.As a result, the ease of use and safety of the robot control system are significantly increased.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of a robot control system using a general-purpose compiler language according to the present invention, and FIG. 2 is a block diagram showing a conventional example. 1... Edit operation, 2... Compile operation, 3... Link operation, 4... Source module, 5... Object module, 6... Load module, 7... Version control section, 8...Link information table.

Claims (1)

[Claims] Robot control that controls robot motion using a general-purpose compiler language in which a source module is generated by editing, an object module is generated by compiling, and an executable load module is generated by linking. The general-purpose method is characterized in that the version numbers of the source module and the object module are managed and matched, a table having the history of the load module as information during link operation is created, and a command for displaying the contents of the load module is created. Robot control method using compiler language.