| 摘要 |
<p>A method for controlling an automated work cell which includes at least one robot arm having at least three degrees of freedom controlled according to a plurality of control axes; a control center; a device for controlling the robot arm which includes a plurality of motor controllers each controlling operation of one motor and suitable for operating at least one portion of the robot arm; and a communication bus between the control center and the device for controlling the robot arm; wherein the method includes steps of: a) sending instructions emitted by the control center to control the control axes to a single arithmetic unit belonging to the device for controlling the robot; b) determining, within the arithmetic unit and according to instructions received from the orders for each of the motors controlled by a motor controller; and c) sending each motor controller an order, determined in step b), for the motor controlled by each motor controller.</p> |
