High level language-based robotic control system

Claim 2

A high level language-based control system for a robot which performs a set of movement functions comprising: a) a digital control computer operably connected to the robot to control the movement functions thereof, said digital control computer including program execution means for executing control programs; b) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising: (1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, and (2) second translator means for accepting as inputs thereto statements in a high level robot applications language and for outputting to said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means; c) means for inputting said control programs into said digital control computer for execution thereby; and d) robot computer simulation means operably connected to said digital control computer for executing said control programs in a simulation mode prior to executing them to control the robot and for preventing said digital control computer from executing said control programs to control the robot if a problem is detected in said simulation mode.

Claim 3

The high level language-based control system for a robot of claim 1 and additionally comprising: reconfiguration means connected to said robot simulation means for reconfiguring said programs when problems exist in said simulation mode to a form in which no problems exist in said simulation mode before allowing said digital control computer to execute said programs to control the robot.

Claim 4

The high level language-based control system for a robot of claim 1 in which said robot operates in an environment, and additionally comprising: robot and environmental definition means connected to said robot simulation means for holding and providing data about the robot and the environment in which the robot is working which is used to determined if problems exist in said simulation mode.

Claim 5

The high level language-based control system for a robot of claim 3 wherein: said robot and environmental definition means includes means for dynamically changing said data about the robot and the environment in which the robot is working.

Claim 6

A high level language-based control system for a robot which performs a set of movement functions comprising: a) a digital control computer operably connected to the robot to control the movement functions thereof, said digital control computer including program execution means for executing control programs; b) means for inputting said control programs into said digital control computer for execution thereby; and c) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising, c1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, and c2) second translator means for accepting as inputs thereto statements in a high level robot applications language and for outputting to said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means.

Claim 7

A high level language-based control system for a robot which performs a set of movement functions comprising: a) a digital control computer operably connected to the robot to control the movement functions thereof, said digital control computer including program execution means for executing control programs; b) means for inputting said control programs into said digital control computer for execution thereby; and c) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising, c1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, and c2) second translator means for accepting as inputs thereto statements in a high level robot applications language and for outputting to said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means.

Claim 8

The high level language-based control system for a robot of claim 5 and additionally comprising: robot simulation means operably connected to said digital control computer for executing said control programs in a simulation mode prior to executing them to control the robot and for preventing said digital control computer from executing said control programs to control the robot if a problem is detected in said simulation mode.

Claim 9

The high level language-based control system for a robot of claim 6 and additionally comprising: reconfiguration means connected to said robot simulation means for reconfiguring said programs when problems exist in said simulation mode to a form in which no problems exist in said simulation mode before allowing said digital control computer to execute said programs to control the robot.

Claim 10

The high level language-based control system for a robot of claim 6 in which said robot works in an environment, and additionally comprising: robot and environmental definition means connected to said robot simulation means for holding and providing data about the robot and the environment in which the robot is working which is used to determine if problems exist in said simulation mode.

Claim 11

The high level language-based control system for a robot of claim 8 wherein: said robot and environmental definition means includes means for dynamically changing said data about the robot and the environment in which the robot is working.

Claim 12

The high level language-based control system for a robot of claim 5 wherein: said first translator means includes embedded algorithms defining standard robot movements and actions whereby execution time of said machine language sequences is minimized.

Claim 13

In a computer-controlled robot having at least one gripping arm with a plurality of degrees of freedom for performing a set of movement functions wherein a digital control computer executing control programs contained therein is operably connected to the robot to control the movement functions thereof whereby said robot is a computer-controlled robot, an improvement for improving ease of programming the digital control computer and for improving operation of the robot comprising: b) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising: a) translator means for reading a set of robot control statement sequences and for generating control programs for the digital control computer therefrom defining a set of robot control sequences, said translator means comprising: (1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, and (2) second translator means for accepting as inputs thereto statements in a high level robot applications language and for outputting said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means; b) means for inputting said control programs into the digital control computer for execution thereby; and c) robot simulation means operably connected to the digital control computer for executing said control programs in a fast simulation mode prior to executing them to control the robot and for preventing said digital control computer from executing said control programs to control the robot if a problem is detected in said simulation mode.

Claim 14

In a computer-controlled robot having at least one gripping arm with a plurality of degrees of freedom for performing a set of movement functions wherein a digital control computer executing control programs contained therein is operably connected to the robot to control the movement functions thereof whereby said robot is a computer-controlled robot, an improvement for improving ease of programming the digital control computer and for improving operation of the robot comprising: b) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising: a) translator means for reading a set of robot control statement sequences and for generating control programs for the digital control computer therefrom defining a set of robot control sequences, said translator means comprising: (1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, and (2) second translator means for accepting as inputs thereto statements in a high level robot applications language and for outputting said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means; b) means for inputting said control programs into the digital control computer for execution thereby; and c) robot simulation means operably connected to the digital control computer for executing said control programs in a fast simulation mode prior to executing them to control the robot and for preventing said digital control computer from executing said control programs to control the robot if a problem is detected in said simulation mode.

Claim 15

The improvement to a computer-controlled robot of claim 11 and additionally comprising: reconfiguration means connected to said robot simulation means for reconfiguring said programs when problems exist in said simulation mode to a form in which no problems exist in said simulation mode before allowing the control computer to execute said programs to control the robot.

Claim 16

The improvement to a computer-controlled robot of claim 11 and additionally comprising: robot and environmental definition means connected to said robot simulation means for holding and providing data about the robot and the environment in which the robot is working which is used to determine if problems exist in said simulation mode.

Claim 17

The improvement to a computer-controlled robot of claim 13 wherein: said robot and environmental definition means includes means for dynamically changing said data about the robot and the environment in which the robot is working.

Claim 18

The improvement to a computer-controlled robot of claim 13 wherein: said first translator means includes embedded algorithms defining standard robot movement and actions whereby execution time of said machine language sequences is minimized.

Claim 19

A high level language-based control system for programming and controlling a multiple-armed robot having multiple degrees of freedom for performing a set of movement functions, comprising: a) a digital control computer operably connected to the multiple-armed robot to control the movement functions thereof, said digital control computer including program execution means for executing control programs; b) means for inputting said control programs into said digital control computer for execution thereby; and c) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising, c1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, said first translator means including embedded algorithms defining standard robot movements and actions whereby execution time of said machine language sequences is minimized, and c2) second translator means for accepting as inputs thereto statements in a high level robot applications language comprising operators for standard robot movement of multiple arms moving in cooperation such as MOVE, SQUEEZE, GRIP and for outputting to said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means.

Claim 20

A high level language-based control system for programming and controlling a multiple-armed robot having multiple degrees of freedom for performing a set of movement functions, comprising: a) a digital control computer operably connected to the multiple-armed robot to control the movement functions thereof, said digital control computer including program execution means for executing control programs; b) means for inputting said control programs into said digital control computer for execution thereby; and c) translator means for reading a set of robot control statement sequences and for generating control programs therefrom defining a set of robot control sequences, said translator means comprising, c1) first translator means for accepting as inputs thereto statements in a high level spatial operator algebra language and for outputting machine language sequences reflecting said inputs to said first translator means and executable by said digital control computer, said first translator means including embedded algorithms defining standard robot movements and actions whereby execution time of said machine language sequences is minimized, and c2) second translator means for accepting as inputs thereto statements in a high level robot applications language comprising operators for standard robot movement of multiple arms moving in cooperation such as MOVE, SQUEEZE, GRIP and for outputting to said first translator means statements in said high level spatial operator algebra language reflecting said inputs to said second translator means.

Claim 23

The system of claim 17 further comprising: robot architecture memory means for storing high level program statements in an order which includes said set of high level operators whereby to define a particular robot architecture, and for transmitting said statements to said second compiler in said order.

Claim 24

The system of claim 17 wherein fifth type of operator comprises a Kalman transition operator and said sixth type of operator comprises an operator which performs a Kalman filter operation in combining said operators of said fifth type.

Claim 25

The system of claim 19 wherein said Kalman filter provides a Kalman gain for each one of said links, and wherein said second type of operator which propagates vector quantities across a robot joint comprises the Kalman gain of said corresponding robot joint.

Claim 26

The system of claim 19 wherein said fifth type of operator further comprises a robot joint axis projection operator and a pickoff projection operator.

Claim 27

The system of claim 21 wherein the sequence of low level operators of one of said high level operators further comprises another one of said high level operators.

Claim 28

The system of claim 21 wherein said recursion comprises one of an inward recursion beginning at a tip joint and concluding at a base joint of said robot and an outward recursion beginning at said base joint and concluding at said tip joint.

Claim 29

The system of claim 21 wherein one of said high level operators corresponds to a linearized robot dynamic model and at least some of the fifth type of operators thereof comprise partial derivatives of others of said fifth type of operators.

Claim 30

The system of claim 21 further comprising designer input means external of said robot and connected to said second compiler means for naming a high level operator and for selecting plural ones of said low level operators and specifying connections among the selected plural low level operators corresponding to a sequence of said low level operators to which said second compiler means translates the high level operator named by said input means.

Claim 31

The system of claim 21 wherein said first and second compiler means reside within said robot.

Claim 32

The system of claim 22 further comprising user input means external of said robot for entering said high level program statements into said robot architecture memory means.

Claim 35

The method of claim 28 further comprising: storing high level program statements in an order which includes selected ones of said high level operators whereby to define a particular robot architecture, and transmitting said statements as said set of plural high level operators for said translating step.

Claim 36

The method of claim 28 wherein fifth type of operator comprises a Kalman transition operator and said sixth type of operator comprises an operator which performs a Kalman filter operation in combining said operators of said fifth type.

Claim 37

The method of claim 30 wherein said Kalman filter provides a Kalman gain for each one of said links, and wherein said second type of operator which propagates vector quantities across a robot joint comprises the Kalman gain of said corresponding robot joint.

Claim 38

The method of claim 30 wherein said fifth type of operator further comprises a robot joint axis projection operator and a pickoff projection operator.

Claim 39

The method of claim 28 wherein the sequence of low level operators of one of said high level operators further comprises another one of said high level operators at one of said first, second and third levels.

Claim 40

The method of claim 28 wherein said recursion comprises one of an inward recursion beginning at a tip joint and concluding at a base joint of said robot and an outward recursion beginning at said base joint and concluding at said tip joint.

Claim 41

The method of claim 28 wherein one of said high level operators corresponds to a linearized robot dynamic model and at least some of the fifth type of operators thereof comprise partial derivatives of others of said fifth type of operators.

Claim 42

The method of claim 32 further comprising naming a high level operator, selecting plural ones of said low level operators and specifying connections among the selected plural low level operators corresponding to a sequence of said low level operators to which said translating step translates the named high level operator.