| 摘要 |
<p>PURPOSE:To increase the degree of freedom in the combination of apparatuses by reading out unit operation data arrayed in an operation graphic file in the order of the array while confirming a state table writing operation responses from respective apparatuses by a status interpreting means and holding operation commands in respective apparatuses. CONSTITUTION:When a working command is inputted to a command interpreter 20 held in a waiting state, the contents of the command are judged and the stored operation graph storing file 21 is selected to start an operation interpreter 22. Then a detector 25 is started through a blackboard 23 to be a state table to discriminate the operation responses of a robot 14 and a visual sensor 15. Subsequently, an operation rule stored in an interpretation rule storing file 26 is retrieved based on an output from the detector 25 and an operation state corresponding to an operation response is written in the blackboard 23. Thus, a node written in the interpreter 22 and already started is completed and rewritten by confirming the operation of respective apparatuses.</p> |
