| 摘要 |
PROBLEM TO BE SOLVED: To obtain a redundancy system enabling reduction in power consumption, and safe switching of a computer unit between in-use and standby systems. SOLUTION: A list indicating which of hot standby or cold standby the computer in the standby system should stands by is stored relative to individual tasks executable by a robot. At the start of the individual tasks, the standby system is set in hot or cold standby in reference to the list. In the standby system in the cold standby, devices such as a CPU or a main storage are made inoperative, and a redundancy control circuit and a local memory for storing motion data are operated. The CPU in the in-use system writes the motion data for leading the present attitude of the robot to a safe attitude in the local memory in the standby system. When the unit is switched due to a failure that occurs in the in-use system, the right of control is transferred to the standby system, and the motion data processing section of the redundancy control circuit leads the robot to the safe attitude based on the motion data input in the local memory. COPYRIGHT: (C)2008,JPO&INPIT
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