Patent ID: 6411055
Filing Date: 2002-06-25
Classification: B25J,G05B

Abstract:
A robot apparatus comprising:a plurality of component units connected to the body of said robot apparatus via HUBs; linkage state detection means for detecting the state of linkage of said component units in terms of tree structure data which defines said state of linkage; memory means for storing a plurality of types of tree structure data representing a plurality of categories which correspond to a plurality of linkage states of the robot, and storing also a plurality of operation control programs that correspond to said plurality of categories, for controlling operations of said component units; category determination means for determining the category of the linkage state of said robot apparatus by comparing the result of the detection of the linkage state performed by said linkage state detection means with the linkage states of different categories stored in said memory means; and control means for controlling operations of said plurality of component units based on said operation control program selected according to the category determined by said determination means from among the plurality of operation control programs stored in said memory means.