MULTI-PROCESS BASED WELDING ROBOT CONTROL SYSTEM AND IT'S METHOD

摘要

The present invention relates to a multi-process based real time welding robot control system and method thereof, separation-comprising: a robot manager connected to a user interface device and management system via a network to communicate with each other, and acting as a system parameter management, a robot operation record management, a work file and command interpretation, and the like; a work effector for calculating mechanics and tracking information for a robot′s motion by interpreting a command and work file transmitted from a robot manager, and concurrently processing a non-periodic event such as an emergency shutdown and suspension; and a servo-controller for receiving information generated in the work effector to control the robot system in real time, and transmitting events to the work effector and the robot manager by directly interfacing the events of a variety of hardware as being inputted and directly controlling a sensor and a welder in addition to a direction control of an input and an output of the robot system. The robot manager periodically checks normal operation through a separate thread, the work effector and the servo-controller check the normal operation state by a normal driving reply, and synchronization of the work effector and the servo-controller is controlled by the robot manager to be controlled in a multi-process, thereby improving system efficiency.