| 摘要 |
A task-based robot control system for multitasking is provided to improve productivity and reduce costs for designing a manufacturing line by applying a usual hardware-based robot controller as a software-based robot controller and realizing software-based multitasking. The system comprises an HRPL(High level Robot Program Language) level(10), a robot system interface level(20) connecting an external module to a robot controller module, a robot kernel level(30), which is a core of the system, a system kernel level(40), and a hardware level(50). The robot kernel level processes a query performed by a microcontroller while controlling generation/termination of a plurality of virtual robot controllers with software to control multitasking. The system kernel level is a shared module among the virtual robot controllers to implement a multiaxial control system through synchronization among the virtual robot controllers. The hardware level actually operates the robot by including a PCI(Peripheral Component Interconnect) interface DSP(Digital Signal Processor) system, an I/O(Input/Output) board, and a sensor board.
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