KR940006722A - Multiple Robot Control Method - Google Patents

Multiple Robot Control Method Download PDF

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Publication number
KR940006722A
KR940006722A KR1019920016866A KR920016866A KR940006722A KR 940006722 A KR940006722 A KR 940006722A KR 1019920016866 A KR1019920016866 A KR 1019920016866A KR 920016866 A KR920016866 A KR 920016866A KR 940006722 A KR940006722 A KR 940006722A
Authority
KR
South Korea
Prior art keywords
work
robot
code
indicating device
plan indicating
Prior art date
Application number
KR1019920016866A
Other languages
Korean (ko)
Other versions
KR100221491B1 (en
Inventor
김진기
Original Assignee
윤종용
삼성전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 윤종용, 삼성전자 주식회사 filed Critical 윤종용
Priority to KR1019920016866A priority Critical patent/KR100221491B1/en
Publication of KR940006722A publication Critical patent/KR940006722A/en
Application granted granted Critical
Publication of KR100221491B1 publication Critical patent/KR100221491B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

본 발명은 다수의 로보트 제어방법에 관한 것으로, 종래에는 하나의 CPU에 의해 하나의 로보트를 구동하게되어, 여러대를 사용케하는 공장라인 등에서는 CPU의 다수 확보로 인해 그 효율성이 떨어지는 바, 본 발명에 의하면 CPU와 접속되는 작업계획 지시장치를 부가하여, 작업계획지시장치에 의해 순차적인 일련의 작업에 따른 작업부호를 부여하고, 그에 따른 내부영역을 할당하여 연속적인 로보트의 구동이 되게하면서 위치관절제어기와의 통신을 동시에 수행토록 된것으로 작업의 효율과 작업의 다양화의 효과를 볼수있게된 발명인 것이다.The present invention relates to a number of robot control methods, and in the related art, one robot is driven by a single CPU, and in a factory line that uses several units, the efficiency is reduced due to the large number of CPUs. According to the present invention, by adding a work plan indicating device connected to the CPU, the work plan indicating device assigns a work code according to a sequential series of tasks, and allocates an internal area accordingly to allow continuous robot driving. It is an invention that can see the effect of work efficiency and work diversification by performing communication with the joint controller at the same time.

Description

다수의 로보트 제어방법Multiple Robot Control Method

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 개략적인 씨스템의 블록구성도.1 is a block diagram of a schematic system of the present invention.

제2도는 본 발명의 전체적인 동작흐름도.2 is an overall operational flow diagram of the present invention.

제3도는 본 발명 작업계획 지시장치의 동작흐름도.Figure 3 is a flow chart of the operation plan indicating apparatus of the present invention.

Claims (2)

디지탈 입, 출력부 (1)와, 교시장치(2), 터미널(3)로된 입력부와 CPU(4)가 접속되고, CPU(4)에 작업계획지시장치(5)를 연결하면서 작업계획지시장치(5)에 위치관절제어기(6) 및 다수의 서보모터 드라이버(7)와 로보트(8)를 연결하여 작업계획지시장치(5)에 의해 통신기능 및 로보트 동기동작을 이루도록 된것을 특징으로 하는 다수의 로보트 제어방법.Digital input and output unit 1, input unit composed of teaching device 2, terminal 3 and CPU 4 are connected, and work plan instruction device 5 is connected to CPU 4 with work plan indicating device 5 The position joint controller 6 and the plurality of servomotor drivers 7 and the robot 8 are connected to the apparatus 5 so that the work planning command apparatus 5 can perform a communication function and a robot synchronous operation. Multiple Robot Control Methods. 제1항에 있어서, 작업계획 지시장치(5)는 인터럽트 발생(101)에 이어, 작업 부호(ID)를 부여(102)하고, 작업식별부호(ID)가 마지막 작업부호 인가를 판단(103)하는 제1단계에 이어, 마지막 작업부호이면 작업부호를 처음 작업부호로 셋트(104)하고, 마지막 작업부호가 아니면, 작업준비 (Ready)가 되었는가를 감지(105)하는 제2단계를 거쳐 새로운 작업에 따른 그영역에 포함된 작업을 실시(106)하고, 작업이 개시되면, 작업상태 동작중(107)임을 계속적으로 판단하면서 부여받은 작업부호에 해당하는 작업을 지시(108)하고, 로보트가 작업에 따른 동작을 수행(109)하는가를 감지하는 제3단계에 이어 로보트가 동작중에 위치관절제어기(6)와 통신을 이루면서 (110) 로보트가 구동(111)토록하는 제4단계의 단위행정을 지닌 작업계획 지시장치(5)를 포함하여 된것을 특징으로 하는 다수의 로보트 제어방법.The work plan indicating device (5) according to claim 1, assigns (102) a work code (ID) following interrupt generation (101), and determines whether the work identification code (ID) is the last work code (103). After the first step, if the last work code, the work code is set to the first work code 104, and if it is not the last work code, the new work through the second step of detecting (105) whether the work is ready (Ready) In operation 106, the operation included in the area is executed, and when the operation is started, the operation corresponding to the assigned work code is instructed 108 while continuously determining that the operation state is in operation 107, and the robot performs the operation. Following the third step of detecting whether to perform the operation according to (109), the robot communicates with the position joint controller 6 during the operation (110) and the robot has the fourth step of driving (111) to have the unit stroke. It is characterized in that it includes a work plan indicating device (5) A plurality of robot control method. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920016866A 1992-09-16 1992-09-16 Method for controlling dual robot KR100221491B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920016866A KR100221491B1 (en) 1992-09-16 1992-09-16 Method for controlling dual robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920016866A KR100221491B1 (en) 1992-09-16 1992-09-16 Method for controlling dual robot

Publications (2)

Publication Number Publication Date
KR940006722A true KR940006722A (en) 1994-04-25
KR100221491B1 KR100221491B1 (en) 1999-09-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920016866A KR100221491B1 (en) 1992-09-16 1992-09-16 Method for controlling dual robot

Country Status (1)

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KR (1) KR100221491B1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102543212B1 (en) * 2015-10-26 2023-06-14 (주)한화 System and method for controlling robot
JP6894292B2 (en) * 2017-05-23 2021-06-30 Juki株式会社 Control system and mounting equipment

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KR100221491B1 (en) 1999-09-15

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