| 摘要 |
<p>PURPOSE:To provide a computer system which can display the reason for rejection by deciding the propriety of the system operation after retrieving a module belonging to the system at an early stage of its execution. CONSTITUTION:The structure of a robot is processed by a robot structure expression module and transferred to a coordinate conversion process. Thus the operation value of each shaft is acquired. Therefore plural robot structure expression modules can be prepared and then replaced with each other to deal with the robots of quite different shapes. Meanwhile the problems caused by the replacement of modules can be prevented and therefore a module is provided in a man-machine subsystem to check each module in regard of retrieval of the internal modules, recognition of a basic component table and versions, decision of modules, etc., using the module in the controller as a unit. Then an error message is displayed if no coincidence is secured with the factors of the basic component table. Thus the problems can be easily detected.</p> |
