英语翻译
In order to execute
these good movements of the end-effector,the control software
which makes the RRXC perform the given welding tasks through
the defined ‘actions’ and its successive combinations.Thus,the
control software is defined into four layers here and the
definitions of each layer are as follows
(1) Task manager:this helps to manage the task lists provided by
the users,and to communicate with the teaching pendant (TP).
(2) Task planner:this takes charge of receiving tasks from the
task manager and then it helps to choose a series of required
‘actions’.
(3) Actions for the task:this takes charge of receiving the ‘actions’
from the task planner.Then it helps to generate the trajectory
of the robot through definition of the environmental data and
the robot status from the task executer.
(4) Task executer:this takes charge of controlling the motion
controller and the actuator.It helps the RRXC to execute the
received tasks and then it deciphers the environmental data
and the robot status data obtained from the sensory system.
Thus,it is noteworthy that the tasks can be performed through
the successive combinations of ‘actions’ in the layers of actions for
performing the required task.Furthermore,in order to make
additions of new hardware easy,the unit functions of the task
executer are modularized.Figs.7 and 8 show a diagram of the
four layered architecture and its modules,which makes the
control software run.