WO2011132807A1 - 로봇 시스템 제어 방법 및 그 장치 - Google Patents
로봇 시스템 제어 방법 및 그 장치 Download PDFInfo
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- WO2011132807A1 WO2011132807A1 PCT/KR2010/002587 KR2010002587W WO2011132807A1 WO 2011132807 A1 WO2011132807 A1 WO 2011132807A1 KR 2010002587 W KR2010002587 W KR 2010002587W WO 2011132807 A1 WO2011132807 A1 WO 2011132807A1
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- runtime
- robot system
- master controller
- application
- executing
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33342—Master slave, supervisor, front end and slave processor, hierarchical structure
Definitions
- the present invention relates to a robot system control method.
- the conventional boot loader system has a difficulty in managing the processes of each application efficiently in an environment in which a plurality of applications are executed at the same time.
- An embodiment of the present invention is to provide a method and apparatus for efficiently managing an embedded robot system using a runtime system.
- a robot system control apparatus for controlling the robot system using a master controller embedded in the robot system, the master controller includes a runtime unit; A storage unit for storing runtime code for executing the runtime, a runtime symbol table, and application code for performing a specified function of the robot system; An operation unit configured to perform an operation for execution of a runtime and to control a signal flow for controlling the robot system; And a communication unit for communicating with a host computer of the robot system, wherein the runtime unit includes an application loader module for loading the application code; And an application program interface module for executing the loaded application code.
- the runtime unit may further include a controller shape management module configured to dynamically manage the recognition of the slave controller embedded in the robot system and the system information configuration of the robot system.
- the runtime unit may further include a data logger module that generates history information about the operation of the runtime.
- the application program interface module executes the application code using a system call of an operating system of the robot system, and a parameter referred to for execution of the application code uses the registry of a control device to control the robot system. Can be delivered.
- a method for controlling the robot system using a master controller embedded in the robot system comprising: initializing the master controller using a boot loader included in the robot system; Executing runtime by loading runtime execution code stored in a storage space of the master controller; And loading and executing an application program stored in a storage space of the master controller.
- the method may further include generating history information on an operation of the master controller after executing the runtime.
- the robot system may further include a slave controller, and after the execution of the runtime, may further include dynamically managing the slave controller and system information configuration.
- the loading and executing of the application program may be performed using a system call of an operating system of the robot system, and parameters for executing the application program may be transmitted using a registry of the master controller.
- FIG. 1 is a diagram illustrating an environment in which a robot control system using a runtime support according to an embodiment of the present invention is implemented.
- FIG. 2 is a block diagram of a runtime use robot system control apparatus according to an embodiment of the present invention.
- FIG. 3 is a diagram illustrating a configuration of a controller runtime according to an embodiment of the present invention.
- FIG. 4 is a flowchart illustrating a method for controlling a runtime using robot system according to an embodiment of the present invention.
- FIG. 5 is a diagram illustrating a runtime loading operation of a controller according to an embodiment of the present invention.
- FIG. 6 is a diagram illustrating an application program loading step of the controller according to an embodiment of the present invention.
- FIG. 7 is a diagram illustrating an application program execution step of the controller according to an embodiment of the present invention.
- FIG. 8 is a diagram illustrating a controller application host interface according to an embodiment of the present invention.
- FIG. 9 is a diagram illustrating an operation of an application loader included in a controller runtime according to an embodiment of the present invention.
- FIG. 10 is a diagram illustrating an application program interface of a controller runtime according to an embodiment of the present invention.
- the robot system 100 may include a master controller 110, a runtime unit 120, a first slave controller 130, and a second slave controller 140.
- the master controller 110 can receive a user command by communicating with the host computer 150.
- the robotic system 100 may include a plurality of manipulators.
- the plurality of manipulators may be controlled by the master controller 110 and / or the slave controllers 130 and 140.
- the master controller 110 may manage and control the slave controllers 130 and 140 and / or the robot manipulator by receiving a user command from the host computer 150 as a main controller of the robot system 100.
- Master controller according to an embodiment of the present invention can increase the management efficiency of the robot system 100 by employing the runtime unit 120 rather than a simple boot loader method.
- the slave controllers 130 and 140 may include a firmware module in which a function necessary for the control operation of each slave driver is implemented in the form of firmware.
- the slave controllers 130 and 140 may be connected to the master controller 110 through a communication unit and managed by the master controller 110.
- the host computer 150 is a terminal used by a user of the robot system 100 to control the robot system 100, and may be various known terminals in addition to the computer.
- the user may access the runtime unit 120 of the master controller 110 through the host computer 150 to manage the robot system 100.
- the master controller 110 may include an operation unit 112, a storage unit 114, a communication unit 118, and a runtime unit 120.
- the operation unit 112 corresponds to a central processing unit (CPU) of the master controller 110, and controls a signal flow in the master controller 110 and performs a physical operation for performing a function performed in the master controller 110. Can be done.
- the operation unit 112 may control the runtime unit 120 to perform operations for execution of the runtime, and control the signal flow in the robot system control apparatus.
- the storage unit 114 is a space for storing data necessary for performing a function of the master controller 110 and may correspond to a memory chip in the master controller. That is, the storage unit 114 may store the runtime code for executing the runtime, the runtime symbol table, the application code for implementing the functions of the robot system, and data necessary for driving the application or the result data.
- the storage 114 of the master controller 110 may be divided into a RAM 115 and a nonvolatile memory 116.
- the RAM 115 may perform a function of storing information that is a target of operation during the operation of the master controller 110. In the case of the RAM 115, the response speed is generally higher than that of the nonvolatile memory 116, and the contents of the RAM 115 are initialized when the power is cut off.
- the RAM 115 may store various pieces of information necessary according to a state in which the robot system 100 is activated.
- the nonvolatile memory 116 has a characteristic that its contents are maintained even when the power is cut off, and may be implemented using a device such as a flash memory.
- the nonvolatile memory 116 may store runtime code, a runtime symbol table, application code for implementing a function of the robot system, and application data according to driving of the application. Information stored in the storage unit 114 according to the operation stage of the robot system 100 will be described in detail later with reference to FIGS. 4 to 7.
- the communicator 118 may communicate with a host computer of the robotic system 100. That is, it may be responsible for signal transmission between the master controller 110 and the host computer 150.
- the communication unit 118 may be in charge of communication between the master controller 110 and other parts of the robot system 100 (eg, slave controller, manipulator).
- Signal transmission for the control of the robot system 100 may be implemented in various ways, such as TCP socket communication, UDP communication, TFTP communication, and the communication unit 118 may correspond to the networking hardware responsible for such communication.
- FIG. 3 is a diagram illustrating a configuration of the runtime unit 120 of the master controller 110 according to an embodiment of the present invention.
- FIG. 3 there are illustrated components that block functions that may be performed by the runtime unit 120 according to an embodiment of the present invention. However, this is only illustrated to facilitate the understanding and explanation of the present invention, and the configuration of the runtime unit 120 according to each function may be variously divided or integrated in two or more. Will be self explanatory.
- the runtime unit 120 includes a hardware device driver module 310, a hardware management module, a memory management module, a communication protocol module, a user command interface module, a simulator interface module, a data logger module 320, and a controller. It may include one or more of the configuration management module 330, the application loader module 340, the application program interface module 350 and the operating system kernel 360.
- the controller shape management module 330 may dynamically manage the recognition and system information configuration of the slave controller embedded in the robot system 100.
- the operating system kernel 360 may manage components for each function, like a kernel of a general operating system.
- the hardware device driver module 310 may support a driver for driving hardware components of the master controller 110. Therefore, each component of the runtime unit 120 utilizes hardware resources through the hardware device driver module 310, and information about hardware usage is provided through the hardware management function and the memory management function of the runtime unit 120. Can be managed.
- the data logger module 320 may collect and record history information about operations of the master controller 110 and the slave controllers 130 and 140 that control the robot system 100. Such control history information may be transmitted to the host computer 150.
- the data logger module 320 may exchange information with a host computer via, for example, TCP / IP socket communication.
- the application loader module 340 may provide an application program loading function and a symbol table loading function for implementing the functions of the robot system 100.
- the application loader module 340 may provide a function of loading a data value of a symbol table separately prepared by a user to an application program executed by the application program interface module 350.
- an application executed through the application loader can call and use functions of the runtime through the application program interface of the runtime. Specific operations of the application loader module 340 may be described with reference to FIG. 9.
- the application program interface module 350 may execute application code by using a system call of an operating system of the robot system 100.
- the parameters referenced for the execution of the application code may be transmitted using the registry of the device controlling the robot system. That is, the application program interface module 350 is a module that supports an API that supports execution of an application program using a system call provided by an operating system of the robot system. Invocation and execution of the application program interface will be described with reference to FIG.
- the user command interface module may provide a function of receiving a user command from the host computer 150 and responding to the host computer 150 with the result of the execution.
- the simulator interface module may provide an interface with robot simulation software mounted on the host computer 150.
- the runtime unit 120 of the master controller 110 is a universal serial communication (UART), Ethernet (Ethernet), IP (Internet Protocol), ARP (Address Resolution Protocol), TCP (Transmission) Control Protocol (UDP), User Datagram Protocol (UDP), Trivial File Transfer Protocol (TFTP), etc. may support the communication protocol.
- UART universal serial communication
- Ethernet Ethernet
- IP Internet Protocol
- ARP Address Resolution Protocol
- TCP Transmission) Control Protocol
- UDP User Datagram Protocol
- TFTP Trivial File Transfer Protocol
- FIG. 4 is a flowchart of a robot system control method according to an embodiment of the present invention.
- 5 is a diagram illustrating a runtime loading operation of a controller according to an embodiment of the present invention.
- 6 is a diagram illustrating an application program loading step of the controller according to an embodiment of the present invention.
- 7 is a diagram illustrating an application program execution step of the controller according to an embodiment of the present invention.
- Booting the embedded controller using the boot loader is a step of initializing the master controller 110 using the boot loader. That is, the process of initializing the master controller 110 and / or slave controllers 130 and 140 for the control of the robot system 100. Through this initialization process, the master controller 110 may be ready to load the runtime. Details of the initialization process of the robot system by the boot loader are obvious to those skilled in the art, and the following detailed description may be omitted.
- the loading of the runtime is a process of preparing the startup of the runtime unit 120 after the initialization process of the robot system 100 by the boot loader is completed.
- the runtime loading process may be performed by loading runtime code from the nonvolatile memory 116 of the master controller 110 to the RAM 115.
- the boot loader may load the runtime executable code stored in the nonvolatile memory 116 into the RAM 115.
- the boot loader takes over control of the controller to the runtime code and executes the runtime.
- the runtime unit 120 is executed by loading the runtime execution code into the memory of the master controller 110.
- the runtime data may be generated according to the initialization information programmed in the runtime execution code.
- Loading the application program is a step of loading the application program of the robot system using the application loader module 340 of the runtime unit 120, the runtime unit 120 of the master controller 110 is executed This is a step of loading an application program for implementing a function of the robot system in a state.
- loading of an application program may be performed by loading a runtime symbol table and an application program (application code 1 and application code N) into the RAM 115. Meanwhile, a user of the host computer 150 may modify the runtime symbol table through the runtime unit 120.
- the execution of the application program is a step of executing the application program using the application program interface module 350 of the runtime unit 120, and executes the loaded application program to implement the functions of the robot system 100. It's a step.
- the application program interface module 350 may use a system call of the operating system of the robot system 100, and parameters for executing the application program may be transmitted using the registry of the master controller 110.
- the runtime unit 120 dynamically generates a process to execute the application code.
- the application code may generate the application data according to the initialization information and, if necessary, modify the application data by referring to the runtime symbol table.
- Each application can be created and managed by a separate process by the operating system.
- the runtime unit 120 of the master controller 110 may load and execute several application programs at the same time.
- FIG. 8 is a diagram illustrating a controller application host interface according to an embodiment of the present invention.
- the runtime unit 120 of the master controller 110 may exchange information with the host computer 150 through an application-host interface.
- the application-host interface may include a user command interface module, a simulator interface module, a controller shape management module 330, a memory file system module, and an application loader module 340.
- the user command interface module may exchange information with the host computer 150 through TCP socket communication.
- the user command interface module of the application-host interface of the master controller 110 receives the user command interface module to perform a user command and output the result of the user command. Can respond to windows.
- the simulator interface module can exchange information with the robot simulator of the host computer via TCP socket communication.
- the memory file system module can be connected to the TFTP console window of the host computer through TFTP communication.
- the user may download a file to the master controller 110 or upload a file from the controller through a TFTP command, and may perform operations such as file name change and deletion.
- the operations of the user command interface module, the simulator interface module, the controller shape management module 330, the memory file system module, the application loader module 340, and the application program interface module 350 mentioned above may be monitored by the data logger client. Can be. Such monitoring information may be transmitted to the data logger server of the host computer 150 through UDP socket communication.
- FIG. 9 is a diagram illustrating an operation of an application loader included in the runtime unit 120 according to an embodiment of the present invention.
- the application loader module 340 may provide an application program loading function and a symbol table loading function.
- the runtime symbol table may be configured by a user command or in a file form and stored in a flash memory.
- an application program may be stored in flash memory by an application developer in the form of an Executable and Linking Format (ELF) file.
- ELF Executable and Linking Format
- An application program in the form of an ELF file may include a code area, a data area, and an additional area of the program.
- the runtime symbol table may be loaded.
- each program segment may be extracted by analyzing a program header from the ELF file, and the extracted program segment may be loaded into the RAM 115.
- the application loader module 340 may search the already loaded runtime symbol table, find symbol data corresponding to the symbol data of the application program, and load the loaded symbol data in the application program data area.
- the runtime unit 120 may call a system call of the operating system to create a new application process and execute the application program.
- the application can create and run a separate thread inside the program.
- FIG. 10 is a diagram illustrating an application program interface of a controller runtime according to an embodiment of the present invention.
- the application program interface module 350 provided by the runtime unit 120 of the master controller 110 may include a motion API, a POSIX API, a communication API, a controller API, and an input / output API.
- Various application programs for implementing the functions of the robot system 100 may be executed by calling an application program interface (API) of the runtime unit 120 through a system call provided by the operating system.
- API application program interface
- the parameters passed with the API request and the system call number corresponding to the called API may be copied to the system registry of the master controller 110.
- a software interrupt may be generated so that the operating system can receive and process it.
- the system call handler (SYSTEM CALL HANDLER) in the software interrupt handler of the operating system refers to the handler address (API address) of the corresponding system call registered in the system call table of the operating system.
- API address the handler address of the corresponding system call registered in the system call table of the operating system.
- the called API may be processed by receiving an API request parameter stored in the system registry of the master controller 110 as a parameter.
- the API is called through software interrupts and system calls to complete execution, the execution result can be returned to the application by the software interrupt handler.
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Abstract
Description
Claims (8)
- 로봇 시스템에 내장된 마스터 제어기를 이용하여 상기 로봇 시스템을 제어하는 로봇 시스템 제어 장치에 있어서,상기 마스터 제어기는런타임부;런타임의 실행을 위한 런타임 코드, 런타임 심볼 테이블 및 로봇 시스템의 지정된 기능을 수행하는 어플리케이션 코드를 저장하는 저장부;런타임의 실행을 위한 연산을 수행하고, 상기 로봇 시스템의 제어를 위한 신호 흐름을 제어하는 연산부; 및상기 로봇 시스템의 호스트 컴퓨터와 통신하는 통신부를 포함하고,상기 런타임부는상기 어플리케이션 코드를 로딩하는 어플리케이션 로더 모듈; 및로딩된 어플리케이션 코드를 실행하는 응용 프로그램 인터페이스 모듈을 포함하는 것을 특징으로 하는 로봇 시스템 제어 장치.
- 제1항에 있어서,상기 런타임부는상기 로봇 시스템에 내장된 슬레이브 제어기의 인식 및 상기 로봇 시스템의 시스템 정보 구성을 동적으로 관리하는 제어기 형상 관리 모듈을 더 포함하는 것을 특징으로 하는 로봇 시스템 제어 장치.
- 제1항에 있어서,상기 런타임부는상기 런타임의 동작에 대한 이력 정보를 생성하는 데이터 로거 모듈을 더 포함하는 것을 특징으로 하는 로봇 시스템 제어 장치.
- 제1항에 있어서,상기 응용 프로그램 인터페이스 모듈은,상기 로봇 시스템의 운영 체제의 시스템 콜을 이용하여 상기 어플리케이션 코드를 실행하고, 상기 어플리케이션 코드의 실행을 위해 참조되는 매개 변수는 상기 로봇 시스템을 제어 장치의 레지스트리를 이용하여 전달받는 것을 특징으로 하는 로봇 시스템 제어 장치.
- 로봇 시스템에 내장된 마스터 제어기를 이용하여 상기 로봇 시스템을 제어하는 방법으로서,상기 로봇 시스템에 구비된 부트 로더를 이용하여 상기 마스터 제어기를 초기화하는 단계;상기 마스터 제어기의 저장공간에 저장된 런타임 실행 코드를 로딩하여 런타임을 실행하는 단계; 및상기 마스터 제어기의 저장공간에 저장된 응용 프로그램을 로딩하여 실행하는 단계를 포함하는 로봇 시스템 제어 방법.
- 제5항에 있어서,상기 런타임을 실행하는 단계 이후,상기 마스터 제어기의 동작에 대한 이력 정보를 생성하는 단계를 더 포함하는 로봇 시스템 제어 방법.
- 제5항에 있어서,상기 로봇 시스템은 슬레이브 제어기를 더 포함하고,상기 런타임을 실행하는 단계 이후,상기 슬레이브 제어기 및 시스템 정보 구성을 동적으로 관리하는 단계를 더 포함하는 로봇 시스템 제어 방법.
- 제5항에 있어서,상기 응용 프로그램을 로딩하여 실행하는 단계는,상기 로봇 시스템의 운영 체제의 시스템 콜을 이용하고, 상기 응용 프로그램의 실행을 위한 매개 변수는 상기 마스터 제어기의 레지스트리를 이용하여 전달되는 것을 특징으로 하는 로봇 시스템 제어 방법.
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DE112010005509T DE112010005509T8 (de) | 2010-04-23 | 2010-04-23 | Robotersystemsteuerverfahren und eine Vorrichtung davon |
CN2010800655376A CN103003033A (zh) | 2010-04-23 | 2010-04-23 | 机器人系统的控制方法和装置 |
PCT/KR2010/002587 WO2011132807A1 (ko) | 2010-04-23 | 2010-04-23 | 로봇 시스템 제어 방법 및 그 장치 |
JP2012551895A JP2013518733A (ja) | 2010-04-23 | 2010-04-23 | ロボットシステムの制御方法及びその装置 |
US13/576,790 US20130030568A1 (en) | 2010-04-23 | 2010-04-23 | Robot system control method and a device therefor |
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PCT/KR2010/002587 WO2011132807A1 (ko) | 2010-04-23 | 2010-04-23 | 로봇 시스템 제어 방법 및 그 장치 |
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WO2017159562A1 (ja) * | 2016-03-14 | 2017-09-21 | オムロン株式会社 | 動作情報生成装置 |
EP3376441B1 (en) * | 2017-03-15 | 2021-07-14 | Siemens Aktiengesellschaft | A method for execution of a machine learning model on memory restricted industrial device |
CN107336236A (zh) * | 2017-06-20 | 2017-11-10 | 天津市青创空间科技企业孵化器有限公司 | 一种机器人多功能中央控制系统 |
DE102017216093B4 (de) * | 2017-09-12 | 2019-05-02 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Parametrierung eines robotischen Manipulators |
CN110253569B (zh) * | 2019-05-22 | 2021-07-20 | 深圳镁伽科技有限公司 | 用于控制机器人运动的运动控制部件、系统以及方法 |
CN111026120B (zh) * | 2019-12-20 | 2024-02-06 | 深圳市优必选科技股份有限公司 | 一种机器人及其数据加载方法和装置 |
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Also Published As
Publication number | Publication date |
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US20130030568A1 (en) | 2013-01-31 |
DE112010005509T5 (de) | 2013-03-14 |
CN103003033A (zh) | 2013-03-27 |
DE112010005509T8 (de) | 2013-05-16 |
JP2013518733A (ja) | 2013-05-23 |
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