阅读说明：本技术 用于管理机器人控制器的系统配置的系统和方法 (System and method for managing system configuration of robot controller ) 是由 埃利娜·瓦尔蒂埃南 乔纳斯·布隆恩马克 罗杰·库郎 奥洛夫·尼伦 戈兰·穆斯塔匹克 科杰尔 于 2017-12-22 设计创作，主要内容包括：本公开涉及机器人控制领域,并且具体涉及管理机器人控制器的系统配置。根据第一方面,本公开涉及用于管理被配置为控制机器人的操作的机器人控制器的系统配置的方法。该方法包括捕获S1机器人控制器的快照,该快照包括机器人控制器的当前系统配置,并将所捕获的快照存储S2在备份档案中。该方法进一步包括在表示按时间顺序呈现的存储在备份档案中的一个或多个快照的显示器上生成S3,并且在从输入设备接收选择所显示的要素中的一个要素的用户输入时,从与所选择的要素表示的快照相对应的备份档案信息中进行检索S5,并提供S6检索到的系统配置。该方法还涉及对应的控制系统。(The present disclosure relates to the field of robot control, and in particular to managing a system configuration of a robot controller. According to a first aspect, the present disclosure relates to a method for managing a system configuration of a robot controller configured to control operation of a robot. The method comprises capturing S1 a snapshot of the robotic controller, the snapshot including a current system configuration of the robotic controller, and storing S2 the captured snapshot in a backup archive. The method further comprises generating S3 on the display representing the chronologically presented one or more snapshots stored in the backup archive, and upon receiving a user input from the input device selecting one of the displayed elements, retrieving S5 from backup archive information corresponding to the snapshot represented by the selected element and providing the retrieved system configuration S6. The method also relates to a corresponding control system.)

1. A method for managing a system configuration of a robot controller (10), the robot controller (10) being configured to control operation of a robot (40), the method comprising:

-capturing (S1) a snapshot of the robot controller (10), the snapshot comprising a current system configuration of the robot controller (10),

-storing (S2) the captured snapshots in a backup archive (30, 30'), the backup archive being configured to store a plurality of snapshots,

-generating (S3) a graphical user interface on a display (21), the graphical user interface comprising elements (211) representing one or more snapshots stored in the backup archive (30, 30') presented in a chronological order,

and upon receiving (S4) user input from the input device (22) selecting one of the displayed elements (211),

-retrieving (S5) from the backup archive (30, 30') information corresponding to the snapshot represented by the selected element, and

-providing (S6) the retrieved system configuration.

2. The method of claim 1, further comprising:

-installing (S0) an initial system configuration and storing a snapshot comprising the initial system configuration in the backup archive (30, 30').

3. The method of claim 1 or 2, wherein the capturing (S1) and the storing (S2) are repeated in response to a predefined trigger and/or periodically upon receiving user input.

4. The method according to any one of the preceding claims, comprising: capturing (S1) and storing (S2) snapshots of different systems representing a multi-system configuration of the robot (40).

5. The method according to any one of the preceding claims, wherein the generating (S3) comprises displaying the elements along a timeline (212).

6. The method according to any one of the preceding claims, wherein the snapshot comprises a snapshot identifier, and wherein the generating (S3) comprises: displaying the snapshot identifier associated with the corresponding displayed element (211).

7. The method according to any one of the preceding claims, wherein the generating (S3) comprises: elements (211) representing snapshots captured during a limited period of time are displayed and, in response to receiving user input indicating scrolling, are moved forward or backward in time for the limited period of time.

8. The method according to any one of the preceding claims, wherein the providing comprises at least one of:

-installing (S6a) the retrieved system configuration in the robot controller,

loading (S6b) the retrieved system configuration on a data storage device,

sending (S6c) the retrieved system configuration to another robot controller,

sending (S6d) the retrieved system configuration to a remote device.

9. The method according to any one of the preceding claims, wherein the providing (S6) comprises: selectable elements (215) representing the offering alternatives are presented in the graphical user interface.

10. The method according to any one of the preceding claims, wherein the storing (S2) comprises: storing the snapshot in a backup archive (30, 30 ') being a backup archive (30) in the robot controller and/or in a backup archive (30') external to the robot controller.

11. The method of any of the preceding claims, wherein the system configuration comprises at least one of: operating system software, application software, user data, robot calibration data, and/or robot configuration data.

12. A control system (2) configured to manage a system configuration of a robot controller (10) of a robot (40), wherein the control system (2) is provided with access to a backup archive (30, 30'), the control system (2) comprising:

at least one computing device having at least one processor and memory, the at least one computing device configured to:

-capturing a snapshot comprising a current system configuration of the robot controller (10),

-storing the captured snapshots in a backup archive (30, 30 '), the backup archive (30, 30') being configured to store a plurality of snapshots,

-generating a graphical user interface on a display (21), the graphical user interface comprising elements (211) representing one or more snapshots stored in the backup archive (30, 30') presented in a chronological order,

and upon receiving user input from the input device selecting one of the displayed elements,

-retrieving from the backup archive (30, 30') information corresponding to the snapshot represented by the selected element, and

-providing the retrieved system configuration.

13. The control system (2) of claim 12, wherein the computing device is configured to repeatedly capture and store snapshots in response to predefined triggers and/or periodically upon receiving user input.

14. The control system (2) of any of claims 12 to 13, wherein the computing device is configured to display the elements along a timeline.

15. A system (1) comprising:

-robot (40)

A display (21) configured to display robot control information,

an input device (22) configured to receive user input from a user,

-a backup archive (30, 30') and

-a control system (2) according to any of claims 12 to 14.

Technical Field

The present disclosure relates to the field of robot control, and in particular to managing a system configuration of a robot controller.

Background

Robots have historically been used in industry to perform repetitive tasks. The robot controller is the "brain" of the robot, which executes application code and commands the robot to move accordingly. As with conventional desktop PCs, the robot controller requires software updates, for example, to improve functionality, performance optimization, error recovery, and eliminate potential safety issues.

However, these updates sometimes cause unexpected behavior and problems with the robot or robot controller. This results in the user of the robot (i.e. the robot operator) being very cautious about any software changes to the robot controller, as unexpected software failures may result in expensive production down-times.

In order to minimize the possibility of downtime, users of industrial robots sometimes install multiple versions of robot controller software. If the installed robot controller software fails, they can re-run the previously tested robot controller software. To support this functionality, the robot controller typically includes a backup function that enables creation of a backup copy of the user data, such as configuration data or user-added programs. However, to rerun, the user needs to know which files and parameters to restore from the previous version. The user also needs to know which version to use for different files and parameters. Therefore, the user needs to have a deep knowledge of the robot controller and its software, which makes this solution only suitable for expert users. Therefore, there is a need for an improved method to perform reliable and simple switching between robot controller software versions.

Disclosure of Invention

It is therefore an object of the present disclosure to mitigate at least some of the disadvantages of the prior art. It aims to provide a solution for a robot controller that allows a user to test and experiment the robot controller software and to easily re-run previously used system configurations in case of unexpected robot behavior or software failures. This and other objects are at least partly achieved by a method and control system according to the independent claims and by embodiments according to the dependent claims.

According to a first aspect, the present disclosure relates to a method for managing a system configuration of a robot controller configured to control operation of a robot. The method includes capturing a snapshot of the robotic controller and storing the captured snapshot in a backup archive. The snapshot includes the current system configuration of the robotic controller. The method further includes generating a graphical user interface on the display, the graphical user interface including elements of the one or more snapshots stored in the backup archive that are presented in chronological order, and upon receiving user input from the input device selecting one of the displayed elements, retrieving from the backup archive information corresponding to the snapshot represented by the selected element and providing the retrieved system configuration.

By having elements in the graphical user interface show the backup versions that are available, a user-friendly user interface for backing up the robot controller is provided. Since the snapshot includes both user data of the same type as a traditional backup, as well as manufacturer software and configuration data, the user can quickly return to the location where the snapshot was taken without knowing the software version. Thus, users who were previously discouraged from editing software running on the robot controller are now likely to perform more experiments, and if problems arise, they simply need to rerun to the previous system configuration or state. Furthermore, users who previously were unable to use multiple robot controller software due to complexity now have the potential to do so.

According to some embodiments, the method includes installing an initial system configuration and storing a snapshot including the initial system configuration in a backup archive. Thus, the user may return to the original version of the robot controller via a simple user interface input.

According to some embodiments, the method comprises repeatedly capturing and storing in response to a predefined trigger and/or periodically while receiving the user input. Thus, system reliability is improved because snapshots can be captured and stored without the user's knowledge. Alternatively, the user may choose to make a backup before making changes that may cause software problems.

According to some embodiments, the method includes capturing and storing snapshots of different systems representing a multisystem configuration of the robot. Thus, the proposed method can replace the traditional multisystem configuration.

According to some embodiments, the method includes displaying the elements along a timeline. The timeline representation is a sensible way of presenting available snapshots.

According to some embodiments, the snapshot includes a snapshot identifier, and then generating includes displaying the snapshot identifier associated with the corresponding displayed element. Thus, the user may, for example, name versions in order to track milestones in an ongoing project.

According to some embodiments, the generating includes displaying an element representing a snapshot captured during a limited period of time, and moving forward or backward in time for the limited period of time in response to receiving user input indicating scrolling. Thus, the user can easily view and select all available snapshots.

According to some embodiments, the providing comprises installing the retrieved system configuration in the robot controller. Thus, the user can easily revert to the previous robot controller configuration.

According to some embodiments, the providing includes loading the retrieved system configuration on a data storage device, transmitting the retrieved system configuration to another robot controller, and/or transmitting the retrieved system configuration to a remote device. Thus, a user with multiple robot controllers may take advantage of this possibility to backup a snapshot from one robot controller and then import the snapshot into one or more or all other robot controllers.

According to some embodiments, the providing includes presenting selectable elements in the graphical user interface representing the providing alternatives. Thus, the user can easily choose whether to reinstall the selected snapshot or whether to use it in another robot controller.

According to some embodiments, storing comprises storing the snapshot in a backup archive being a backup archive in the robot controller and/or in a backup archive external to the robot controller. If the internal memory of the robot controller is limited, it may be beneficial to use an external backup archive. When using an external data storage device as a backup archive, there is essentially no limit to the number of snapshots that can be stored.

According to some embodiments, the receiving includes receiving, at the graphical user interface, a touch input, a cursor input command, a voice command, a visual command, or a gesture command. In principle, the use of a graphical user interface makes it possible to use all available input alternatives.

According to a second aspect, the present disclosure relates to a control system configured to manage a system configuration of a robot controller of a robot. The control system is configured to connect or access the display and the input device and also provides access to the backup archive. The control system includes one or more computing devices having at least one processor and memory. The at least one computing device is configured to generate a graphical user interface on the display, the graphical user interface including elements representing one or more snapshots stored in the backup archive in a chronological presentation, and upon receiving user input from the input device selecting one of the displayed elements, retrieve from the backup archive information corresponding to the snapshot represented by the selected element and provide the retrieved system configuration.

According to some embodiments, the at least one computing device is configured to repeatedly capture and store snapshots in response to predefined triggers and/or periodically while receiving user input.

According to some embodiments, at least one computing device is configured to display elements along a timeline.

According to some embodiments, at least one computing device is configured to display elements representing snapshots captured during a limited period of time and, in response to receiving user input indicating scrolling, move forward or backward in time for the limited period of time.

According to a third aspect, the present disclosure relates to a robot, a display configured to display robot control information, an input device configured to receive user input from a user, a backup archive, and a control system.

According to a fourth aspect, the present disclosure relates to a computer program comprising instructions which, when the program is executed by a control system, cause the control system to perform a method as described herein.

According to a fifth aspect, the present disclosure relates to a computer readable medium comprising instructions which, when executed by a control system, cause the control system to perform the method described herein.

Drawings

Fig. 1 shows a robot controlled by a robot controller.

FIG. 2 illustrates an example implementation of a robotic controller user interface including a snapshot presented along a timeline.

Fig. 3 shows the proposed method for managing a robot controller.

FIG. 4 shows the timeline of FIG. 2 with the user scrolling back to view older snapshots.

FIG. 5 illustrates an example implementation of a user interface for viewing details of a snapshot and activating the snapshot.

Detailed Description

The present disclosure proposes to create a "timeline" representation of the robotic controller configuration that allows the user to easily switch between controller software versions. The basic idea is to capture a snapshot of the robot controller configuration and show the snapshot on a timeline in a graphical user interface so that the user can easily access the snapshot without any specific knowledge of the robot controller software. The snapshot may generally contain all the information needed to restore the system configuration to the state at the time of the snapshot.

Fig. 1 shows an industrial robot system 1 which can implement the proposed technique. The industrial robot system 1 comprises a robot controller 10, a user interface device 20 communicating with the robot controller 10, an external backup archive 30' and a robot 40.

In fig. 1, the robot 40 is an industrial robot including one robot arm 41. However, the proposed technique can be used for any movable mechanical unit. In operation, the tool is typically attached to the exterior of the robotic arm 41. The robot arm 41 comprises one or more movement mechanisms adapted to move the robot arm. Each motion mechanism typically comprises a motor unit and a brake unit (not shown). The robot controller 10 controls the operation of the robot 40 by controlling the speed of the movement mechanism.

The robot controller 10 generally includes one or more processors 11 and one or more memories 12. The processor 11 may be a processor module such as a CPU (central processing unit) or a microcontroller. The memory 12 may comprise a non-volatile memory and/or a removable memory such as a USB (universal serial bus) memory stick. The robot controller 10 also comprises suitable I/O interfaces for handling communication with, for example, the robot 40, the user interface device 20 and/or the backup archive 30'.

The user interface device 20 is a device that enables a user to control the robot controller 10. The user interface device 20 is connected to the robot controller 10 by wireless or wire. In fig. 1, the user interface device 20 is a teach pendant. The teach pendant is a hand-held control panel that the user can use to guide the robot through the steps required to complete the task. However, the user interface device 20 may also be a general computer or similar device.

The user interface device 20 includes a processor 24, a memory (not shown), a display 21, and an input device 22 such as a joystick, physical buttons, or touch buttons. Even more advanced input techniques, such as speech recognition or gaze detection, may be used. The software executed by the processor 24 needs to be compatible with the software running in the robot controller 10. For example, the software described above, which is executed by processor 24, may be downloaded from robot controller 10 at installation time. The user interface device 20 may also include an internal user interface program configured to cause the processor 24 to create a graphical user interface and display the user interface on the display 21. Such an embodiment may maintain communication between the robot controller 10 and the user interface device 20 at all times, which is required for time critical applications. According to some embodiments, the user interface device 20 comprises a communication interface 23, such as a wireless communication interface or a USB port for communicating with external devices.

The proposed technique involves storing backup data of the robot controller 10. Such backup data may in principle be stored in any data storage means accessible to the robot controller 10. The data structures used to store backup data are referred to herein as backup archives. In some example embodiments herein, the backup archive is stored in an internal backup archive 30, the internal backup archive 30 being stored in the memory 22 of the robot controller 10. The backup archive may also be an external backup archive 30', such as in a cloud-implemented database. The internal and external storage means may also be used in combination in a suitable way, wherein for example old backup versions are moved from the internal backup archive 30 to the external archive 30'. The backup archive may also be stored (at least partially) in the user interface device 20.

Fig. 2 shows an example of a graphical interface displayed on the display 21 when using the proposed technology. The graphical user interface of fig. 2 includes an element 211 representing a snapshot of the robotic controller 10 presented along a timeline 212. Thus, the "timeline" is a visual representation of a snapshot of the robot controller configuration. On the display 21, the number of snapshots available and a description of each snapshot are easily seen.

The user may scroll through a list of available snapshots and activate one snapshot, which will then become the current configuration. The snapshot may encompass software provided by the robot manufacturer in the form of a software update, as well as encompass other file changes (such as user modifications in the configuration of the program controlling the robot path or other parts of the software system of the robot controller). The use of a "timeline" representation allows a user to easily manage all available snapshots, save new snapshots, and restore system configuration to previously saved snapshots. For example, a "timeline" makes it easy to, for example, scroll the timeline to find and restore older system configurations.

The proposed technique of managing the system configuration of the robot controller 10 will now be described in further detail with reference to the flowchart and other figures of fig. 3.

Fig. 3 shows the proposed method for managing the system configuration of a robot controller. The method is performed during normal operation of the robot 1 or during development and/or service. The method is typically implemented in the control system 2 of the robot. In the present example, the method is implemented in the robot controller 10 itself. However, the software of the robot controller 10 and the user interface device 20 are typically tightly integrated. Accordingly, some portions of the method are performed by the user interface device 20 in some embodiments.

The steps of the method may be defined in a computer program comprising instructions which, when the program is executed by a processor of the control system 2, such as the processor 11 of the robot controller and the processor 24 of the user interface device 20, cause the control system 2 to perform the method. The steps of the method may also be defined in a computer readable medium, such as the internal memory 12 and/or any other memory of the robot controller 10. The computer readable medium comprises instructions which, when executed by the control system 2, cause the control system 2 to perform the method.

When the robot is first put into use, an initial system configuration is loaded in the robot controller 10. This initial system configuration typically needs to be saved in the backup archive 30, 30'. Thus, according to some embodiments, the method comprises installing S0 an initial system configuration and storing a snapshot comprising the initial system configuration in the backup archive 30, 30'.

The robot 40 is typically calibrated before operation begins. During calibration, the calibration parameters are stored in the memory 12 of the robot controller 10. Then, the robot 40 is put into use. During operation, a user may need to update software or other parameters in the robot controller. The proposed method can be used to restore previous settings used during calibration or operation.

The method comprises capturing S1 a snapshot of the robotic controller 10. The snapshot includes the current system configuration of the robotic controller 10. According to some embodiments, the snapshot further comprises information defining a capture time. The capture time is a timestamp that defines when the snapshot was captured. The snapshot is a read-only copy of the current state of the robot controller 10. In other words, the memory 12 of the robot controller 10 storing the current software and/or state of the robot 40 is copied. Snapshots may include, for example, processes, threads, modules, and heaps. More generally, the system configuration includes, for example, at least one of operating system software, application software, user data, robot calibration data, and/or robot configuration data.

In other words, the snapshot includes manufacturer data, including robot controller software and other data generated by the manufacturer, in addition to user data traditionally included in the backup. The manufacturer data may be software and/or data generated by the robot controller during operation of the robot. When reloading a robot controller from a traditional backup, the user typically needs to know the software version running at the time of the backup in order to restore the backup correctly. Since the snapshot includes both user data, which is traditionally backed up, as well as manufacturer software and configuration data, the user can quickly return to the snapshot location without knowing the software version.

The method then comprises storing the captured snapshots S2 in a backup archive 30, 30 ', the backup archive 30, 30' being configured to store a plurality of snapshots of the robot controller. In other words, the copied memory is stored, and there is typically also a capture time, so that it can be reloaded at a later point in time. Other parameters may also be stored in or in relation to the snapshot. For example, each snapshot may be associated with an identifier (such as a number, name, or string). In some embodiments, the user may be given the opportunity to name each snapshot.

The snapshots may also be stored in a backup archive 30, 30' as an internal backup archive 30 in the robot controller 10. Additionally or alternatively, the snapshot may be stored in an external backup archive 30' external to the robot controller. For example, the snapshot may be sent to an external backup archive using, for example, the communication interface 23 of the user interface device 20.

The capturing 1 and storing S2 are typically performed several times, as indicated by the dashed arrow returning to step S1 in fig. 3. More specifically, according to some embodiments, the capturing S1 and storing S2 are repeated in response to a predefined trigger and/or periodically as user input is received. For example, the user may press element 213 (FIG. 2) when a snapshot should be captured and stored. A predefined trigger that may initiate the capturing S1 and storing S2 is a software update or other change. For example, a snapshot is always generated before a new software version is installed. Snapshots may also be captured and stored periodically, such as every night.

Robots are nowadays sometimes operated in a so-called multi-system configuration. This means that industrial robots are installed with multiple versions of robot controller software. The reason may be that different tasks need to be performed or that one system has a backup system in case of a failure. The captured and stored snapshots may represent different systems of a multi-system configuration of robot 40. Thus, there is no need to install multiple copies of the system, as the snapshot will enable the entire system, including the state, parameters, and settings, to be moved.

At some point in time, the user of robot 40 may wish to revert to the system configuration. This may be due to, for example, recent software updates causing problems. Alternatively, the user may wish to operate in another system of the multisystem configuration (e.g., a system corresponding to another task). The user may obtain information about previously captured snapshots accessible from the backup archive via a graphical user interface presented on display 21. The graphical user interface may be accessed, for example, via a menu or by special input commands.

Thus, the method further comprises generating S3 a graphical user interface on the display 21, the graphical user interface comprising elements 211 representing the one or more snapshots stored in the backup archive 30, 30' presented in chronological order. If the user interface device 20 has an internal user interface program, the generating S3 is typically performed by the user interface device 20. In the graphical user interface, these elements are presented, for example, along a timeline 212.

If the snapshot is associated with a snapshot identifier, the identifier may also be presented to the user. In other words, then generating S3 further includes displaying the snapshot identifier associated with the corresponding displayed element 211.

The backup functions (i.e., storage and capture) may be performed during a long period of time. Thus, the backup archive 30, 30' may include many more snapshots than can be displayed on the screen. In this case, only elements 211 representing snapshots captured during a limited period of time will be displayed on the screen. That is, only a certain number of elements are displayed. For example, the most recent snapshot is shown. The user may move backwards in time, for example by scrolling along the timeline. In other words, in response to receiving user input indicating scrolling, move forward or backward in time for a limited period of time.

FIG. 4 illustrates the graphical user interface of FIG. 2 in which a user scrolls the timeline to view older snapshots. In this example, the older snapshots (versions 1.2 and 1.3) are stored in an external backup archive, which is illustrated by cloud symbol 214.

The user may then select the snapshot he or she wants to use, for example, by touching the snapshot or by clicking on the snapshot or by any other suitable user input means described in connection with fig. 1. When user input is provided via the user input device 22, it will be detected and received S4, e.g., by the processor 24 of the user interface device 20. The user input selecting one of the displayed elements 211 is, for example, a touch input at a graphical user interface, a cursor input command, a voice command, a visual command, or a gesture command.

The method further comprises, upon receiving S4 a user input, retrieving S5 from backup archive 30, 30' information corresponding to the snapshot represented by the selected element, and providing S6 the retrieved system configuration. Provisioning means that the retrieved system configuration is used or made available to the user. There are several different ways this can be done.

One possibility is that the user wishes to revert to the retrieved system configuration. Thus, in some embodiments, providing S6 includes installing S6a the retrieved system configuration in the robot controller.

The "timeline" is typically constructed forward and does not return in time, meaning that when the user activates an earlier snapshot of the system configuration, the earlier snapshot is copied and installed to replace the current system configuration of the robotic controller 10. If a new snapshot is captured when the retrieved system configuration is installed, the new snapshot (identical to the old version) will be added at the top of the timeline. In this way, there is only one timeline representation for a snapshot without any other branches.

Alternatively, the user may wish to use the retrieved system configuration in another robot. This may be done, for example, by loading the retrieved system configuration onto a USB stick and loading it into another robot controller. Thus, according to some embodiments, the providing includes loading S6b the retrieved system configuration onto a data storage device.

Alternatively, the other robot controllers may be directly accessed, for example, via a wireless interface. Thus, according to some embodiments, the providing comprises sending S6c the retrieved system configuration to another robot controller.

It may also be desirable to store the retrieved system configuration in some other device for later use (e.g., in a server). Thus, according to some embodiments, the providing comprises sending S6d the retrieved system configuration to the remote device.

The user should easily use the previously retrieved snapshot. For example, different options may be presented on a graphical user interface. FIG. 5 illustrates an example implementation of a user interface in which a user may select how to use a selected snapshot. Typically, the user has selected one of the snapshots and then presented several useful options 215, such as "activate snapshot" or "save snapshot to USB drive", which will make it easy to move the snapshot between the robot controllers. In other words, according to some embodiments, providing includes presenting selectable element 215 in a graphical user interface representing a provisioning alternative. As already mentioned above, the snapshot may be saved to a disk of the robot controller 10 or to the cloud (to save disk space). In both cases, the user is able to activate the snapshot in a similar manner by selecting the snapshot in the timeline.

The invention also relates to a corresponding control system 2 (fig. 2) configured to perform the method of fig. 3. The control system 2 may include one or more computing devices including at least one processor and memory, such as the robot controller 10 itself, the user interface device 20, and/or a cloud-implemented computing device. In general, software systems for implementing the proposed techniques may be constructed in different ways while still achieving the same effects and user experience.

Generally, the control system 2 is configured to perform all embodiments of the methods described herein. This may be achieved, for example, by executing software stored in the memory of one or more computing devices (causing the control system 2 to perform the method). In one example implementation, the user interface device 20 is configured to perform portions of the method related to generating and receiving inputs from the graphical user interface (steps S3 and S4 of fig. 3), and the robotic controller 10 is configured to perform other portions of the method.

Further, the robot control system 2 is configured to connect to or access a display and input devices, such as a display 21 and a user input device 22 of the user interface device 20. In other words, the control system 2 is arranged to provide a user interface on the display and to receive user input from a user input device to which it is connected or accessed. The control system is also provided with access to backup archives, such as an internal backup archive 30 or an external backup archive 30'.

More specifically, the control system 2 is configured to capture a snapshot of the current system configuration including the robot controller and store the captured snapshot in a backup archive. The control system 2 is further configured to generate a graphical user interface on the display comprising elements representing one or more snapshots stored in the backup archive in a chronological order, and upon receiving a user input from the input device selecting one of the displayed elements, to retrieve from the backup archive information corresponding to the snapshot represented by the selected element and to provide the retrieved system configuration.

According to some embodiments, the control system 2 is configured to install the initial system configuration and store a snapshot including the initial system configuration in the backup archive.

According to some embodiments, the control system 2 is configured to repeatedly capture and store snapshots in response to predefined triggers and/or periodically upon receiving user input.

According to some embodiments, the control system 2 is configured to capture and store snapshots of different systems representing a multisystem configuration of the robot.

According to some embodiments, the control system 2 is configured to display elements along a timeline.

According to some embodiments, the control system 2 is configured to display elements representing snapshots captured during a limited period of time and, in response to receiving user input indicating scrolling, to move forward or backward in time for the limited period of time.

According to some embodiments, the control system 2 is configured to provide the retrieved system configuration by installing the retrieved system configuration in the robot controller. According to some embodiments, the control system 2 is configured to provide the retrieved system configuration by loading the retrieved system configuration onto a data storage device. According to some embodiments, the control system 2 is configured to provide the retrieved system configuration by sending the retrieved system configuration to another robot controller. According to some embodiments, the control system 2 is configured to provide the retrieved system configuration by transmitting the retrieved system configuration to a remote device.

According to some embodiments, the control system 2 is configured to provide the system configuration retrieved by the control system 2, configured to present selectable elements in the graphical user interface representing the provision of alternatives.

According to some embodiments, the control system 2 is configured to provide the system configuration retrieved by the control system 2, configured to store the snapshot in a backup archive being a backup archive in the robot controller and/or in a backup archive external to the robot controller.

According to some embodiments, the system configuration includes at least one of operating system software, application software, user data, robot calibration data, and/or robot configuration data.

According to some embodiments, the control system 2 is configured to receive touch input, cursor input commands, voice commands, visual commands or gesture commands at the graphical user interface.

The invention is not limited to the preferred embodiments described above. Various alternatives, modifications, and equivalents may be used. Accordingly, the above-described embodiments should not be taken as limiting the scope of the invention, which is defined by the appended claims.