| 摘要 |
<p>A control system for a work robot having a number of articulated links in which the control system drives the work robot to spray paint a workpiece under closed loop servo control in response to a sequence of recorded link position instructions read from a robot program memory. The control system includes a number of control circuits communicating on a common bus to concurrently drive the work robot, issue commands to devices which operate in conjunction with the work robot, and exchange information with an operator through a keyboard and display. The control system includes a pair of computers which are bus masters capable of initiating communications on the bus. The control system functions are divided between the two master computers, which operate substantially independently of one another, with a limited degree of communication through a buffer memory on the bus. Each master computer is microprocessor-based, and each microprocessor concurrently executes a different program of separate program processes in order to perform the requisite control functions for the robot.</p> |
