| 摘要 |
<p>A control system for controlling at least one industrial robot, wherein the control system comprises a plurality of software modules (41-47) for handling various system functions of the control system, and a plurality of separate hardware units (50-53), each comprising a processing unit (30a-d) and a memory unit (26a-d) for storing one or more of said software modules, and each of the hardware units is configured to receive and execute one or more of the software modules. At least some of the software modules are arranged scalable with regard to the performance of the system functions dependent on the capacity of the hardware unit running the software module, and the control system comprises a resource-distributing unit (55) having knowledge of the capacity of the hardware units, the scalability of the software modules, and the demand on hardware capacity of the software modules,and the resource- distributing unit is configured to plan how to distribute said software modules among said hardware units in order to optimized the performance of the system functions.</p> |
