| 摘要 |
<p>A robot controller (10 or 10A) includes queues (10da), a storage unit (10c), and an execution control unit (10e). The queues (10da) are provided for respective controlled groups serving as controlled units. The storage unit (10c) stores therein instructions directed to the respective controlled groups, one at a time, from a bottom end of each of the queues (10da). When having accepted a predetermined operation request, the execution control unit (10e) simultaneously fetches the instructions directed to the controlled groups, one for each of the controlled groups at a time, from tops of the queues (10da), and makes all of the controlled groups simultaneously start the operations based on such instructions. If there is any controlled group to which no corresponding instruction exists, the storage unit (10c) stores therein a no-operation instruction (NOP). If the fetched instruction is the no-operation instruction (NOP), the execution control unit (10e) keeps the controlled group from operating until an instruction is fetched next time.</p> |
