Patent ID: 6757587
Filing Date: 2004-06-29
Classification: B25J,G05B,Y02P,Y10T

Abstract:
An apparatus, comprising a controlled element (10) and a control system (11), the control system (11) using a control system equation (eq. (1)) to determine control signals (dq/dt) and the control system (11) then providing the control signals (dq/dt) to the controlled element (10), the control system (11) implemented so as to include executable elements (11a 11d 11e 11h) operative according to coded instructions, the apparatus adapted so as to load the executable elements (11a 11d 11e 11h) at power on into a memory device (11f) from which coded instructions are then obtained by which the control system (11) is operative, the apparatus characterized in that the control system (11) comprises:a controller (11c), comprising static controller code elements (11e) and responsive to a script file indicating a code structure (11d), for providing at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)), the controller (11c) for creating the code structure (11d) in the memory device (11f); wherein, in providing the code structure (11d), the controller (11c) parses the script file so as to create the code structure (11d) in the memory device (11f) or in a memory device holding auxiliary memory, and imparts to the code structure (11d) executable logic enabling the code structure (11d) to return a set of one or more values when queried.