ロボット制御プログラム動的更新手法の安全性および応用

抄録

We have presented safety issues such as deadlocks and dependency as well as their solutions in a dynamic updating method of running robot motion controller programs. Case studies of a mobile manipulator, a hexapod robot and a biped robot with wheeled legs illustrate discontinuity and overhead time in updating. We have also shown that the present method may significantly reduce work time of testing phase in system development.