MODULE CONTROL PROGRAM AND CONTROL SYSTEM

摘要

PROBLEM TO BE SOLVED: To simply conduct the processing for specifying not only the position and attitude between the respective components in a control system including a plurality of components but also the position and attitude in the world coordinate systems of the respective components. SOLUTION: The module control program, which is mounted on the respective components of the control system configured by connecting a plurality of components using an inherent coordinate system, includes: an information interface 14 for receiving a working point WP in an own component coordinate system; an offset holding part 12 for applying a predetermined offset to the working point WP; a program-to-program interface 11 for receiving position/attitude information Mn-1 in the world coordinate system from a high-order component; a coordinate transformation processing part 13 for operating own position/attitude information Mn in the world coordinate system from the working point WP, the predetermined offset and position/attitude information Mn-1; and a program-to-program interface 15 for delivering the position/attitude information Mn to a low-order component. COPYRIGHT: (C)2007,JPO&INPIT