INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE
A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes a command-level controller, embedded joint-level controllers each controlling each joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of respective linked events, and thereby allows command data to be modified in real time.
COPYRIGHT: (C)2011,JPO&INPIT
Inventors:
Robert Platt
Patent Number:
JP2011067943Patent Issue Date:
May 7, 2011
