CONTROL SYSTEM AND CONTROL METHOD

To provide a control system capable of planning efficient processes while considering the influence of operational constraints and executing the control consistent with the planned process.SOLUTION: The control system is a system for controlling each of multiple robots that work in the same working...

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Bibliographische Detailangaben
Hauptverfasser:	NAKAMURA TETSUJI, HAMAZAKI KANTA, OKUNO HIGASHI, YASUTOMI YUJI ANDRE, SHIMIZU JURI
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING COUNTING DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR TRANSPORTING
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Beschreibung
Zusammenfassung:	To provide a control system capable of planning efficient processes while considering the influence of operational constraints and executing the control consistent with the planned process.SOLUTION: The control system is a system for controlling each of multiple robots that work in the same working environment. The control system includes: a control parameter calculation unit that calculates control parameters for the multiple robots; an optimization unit that generates steps for the multiple robots based on the control parameters; a task module selection unit that selects a task module for each of the multiple robots based on the steps: and a control unit that controls the multiple robots based on the task module. The optimization unit is configured so as to, when the execution times of tasks in an influencing relationship overlap, constrain the other robot tasks.SELECTED DRAWING: Figure 2 【課題】動作制約による影響を考慮した上での効率的な工程を計画することができ、且つ計画された工程と矛盾のない制御を実行することができる制御システムを提供することを目的とする。【解決手段】同じ作業環境で動作する複数のロボットの夫々を制御する制御システムであって、複数のロボットに対する制御パラメータを算出する制御パラメータ算出部と、制御パラメータに基づいて、複数のロボットの工程を生成する最適化部と、工程に基づいて、複数のロボットのそれぞれに対するタスクモジュールを選択するタスクモジュール選択部と、タスクモジュールに基づき複数のロボットを制御する制御部とを備え、最適化部は、影響関係にあるタスクの実行時刻が重複する時、他方のロボットのタスクを制約することを特徴とする制御システム。【選択図】図２