US 12,134,188 B2
Module and method for linking driving units of robot system
Hong Hyun Kim, Anyang-si (KR); Soo Kyung Son, Gimpo-si (KR); Dae Sung Choi, Bucheon-si (KR); Jin Wook On, Gimpo-si (KR); Byoung Soo Kim, Seoul (KR); and In Yong Ha, Seoul (KR)
Assigned to ROBOTIS CO., LTD., Seoul (KR)
Filed by ROBOTIS CO., LTD., Seoul (KR)
Filed on May 4, 2022, as Appl. No. 17/736,471.
Application 17/736,471 is a continuation of application No. PCT/KR2019/014917, filed on Nov. 5, 2019.
Claims priority of application No. 10-2019-0139589 (KR), filed on Nov. 4, 2019.
Prior Publication US 2022/0258331 A1, Aug. 18, 2022
Int. Cl. B25J 9/08 (2006.01); B25J 9/16 (2006.01); G05B 19/41 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/08 (2013.01) [B25J 9/1602 (2013.01); G05B 19/4155 (2013.01); G05B 2219/50391 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A module for linking driving units of a robot system, comprising:
a communication unit that provides communication between a master and a plurality of slave devices, one of the plurality of slave devices including a plurality of driving units;
a control unit that controls the plurality of driving units connected to the one of the plurality of slave devices in response to a request of the master;
a device information unit that manages a driving unit control table including a driving unit identifier for each of the plurality of driving units connected to the one of the plurality of slave devices; and
the plurality of driving units, each of the plurality of driving units configured to drive a motor according to the driving unit control table,
wherein, for the device information unit, the driving unit identifier is set non-redundantly so as to be used as a key value, and
wherein, for the device information unit, one of the plurality of slave devices, which includes the plurality of driving units, is managed by linking shared information among the plurality of driving units by using a mate identifier.