| CPC B25J 9/1653 (2013.01) [B25J 9/163 (2013.01); B25J 9/1664 (2013.01)] | 20 Claims |
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1. A method performed by one or more computers, the method comprising:
receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot to transition between different tasks including transitioning from performing a first task to performing a second task of the different tasks, wherein the first task and the second task have different respective values for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller;
translating, by the real-time bridge, the non-real-time command into one or more real-time commands to be executed by a real-time robot controller in transitioning the robot from performing the first task to performing the second task, including:
computing a trajectory for a robot component, and
computing interpolated control parameter information from values assigned to the different tasks, wherein the interpolated control parameter information is separate from trajectory parameters of the computed trajectory, and wherein the interpolated control parameter information controls how the real-time robot controller will react to external stimuli while transitioning the robot from the first task to the second task; and
providing, by the real-time bridge, the one or more real-time commands and the interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the transition between the first task and the second task and to react, during the transition between the first task and the second task, to one or more external stimuli according to the interpolated control parameter information instead of reacting to the one or more external stimuli during the transition according to control parameter values of either the first task or the second task.
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