| 摘要 |
PROBLEM TO BE SOLVED: To obtain a robot control system that dramatically reduces the amount of wiring from the drive section of a robot to each control section and a sensor section and can perform control by a standardized communication protocol. SOLUTION: A main control section 1 is provided in the robot, where the main control section 1 can control a plurality of nodes by a communication protocol conforming to an ARCNET (Attached Resource Computer NETwork). The multidrop connection between the main control section 1 and the plurality of nodes, namely subcontrol sections 2, is made by a communication cable 3 such as a coaxial cable, a twisted pair cable, and an optical fiber cable. Additionally, a plurality of drive sections 4 are connected to the subcontrol section 2, a command from the main control section 1 is transmitted to the drive section via the subcontrol section 2, thus driving and controlling joints or the like. Furthermore, a plurality of the sensor sections 5 are connected to the subcontrol section 2, a sensor signal from the sensor section 5 is transmitted to the main control section 1 via the subcontrol section 2, thus carrying out the feedback control of the joints or the like. COPYRIGHT: (C)2004,JPO
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