A robot controller and its control method use a generic personal computer and a PC operating system. The controller 10 comprises the following: a task-switching unit 30 that switches tasks on a pre-emptive basis; an external interrupt generator 50 that uses an external timer to generate interrupts at...http://www.google.de/patents/US6031973?utm_source=gb-gplus-sharePatent US6031973 - Robot and its controller method
