| 摘要 |
A motion control system of a robot is provided to prevent a plurality of scenarios from colliding with each other by forming a scenario selection unit which selects an appropriate scenario among motion execution scenarios that synchronically confront each other. A motion control system of a robot comprise a plurality of scenarios stored in a memory(10), an external information input unit(20), an event detection unit(30), a scenario loading unit(40), a scenario selection unit(50) and a robot motion execution unit(60). The scenario includes a PE(Primitive Execution) and a connector. The scenario includes a scenario information on a name, an ID(IDentification) or a priority, a personal position information of the PE and connector and a relationship information with the PE and connector.
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