APPARATUS FOR CONTROLLING EXECUTION OF ROBOT TASK BASED ON HFSM AND METHOD THEREOF

摘要

The device for controlling the execution of the robot task according to the present invention comprises multiple actions of the robot task and the storage which stores finite state machines (FSM) defined in the relation between the multiple states and the task performance part which simultaneously executes FSM as it uses the synchronization information generated from FSM connected to inside of hierarchical finite state machines (HFSM) of the simultaneous execution operator as a result of parsing HFSM which it defines the layers at least one simultaneous execution connection for the simultaneous execution between the multiple actions and multiple actions of the HFSM corresponding to the corresponding robot task and its executive instructions are inputted from the user. [Reference numerals] (110) Storage part;(120) Task performance part;(130) Operating part