An articulated robot is controlled by dynamically modifying a combination
of a hardware dependent middleware layer and a hardware independent
application layer.
A memory device for storing a plurality of sets of robot hardware dependent
software programs and a memory device for storing a plurality of sets of
robot hardware independent software programs are prepared. During
execution of software programs, a software program compatible with a robot
hardware configuration is introduced from the former memory device, and
this software program is dynamically combined with the set of hardware
independent software programs. The robot is thus appropriately controlled,
meeting the needs of users.
