Articulated Arm Control With Onboard Sensing and Interrupt Override
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Solution Overview
Problem
Traditional robotic control systems operate with slow signal sampling and require lengthy, error-prone cable runs for sensor wiring, limiting dynamic control and responsiveness in changing environments.
Innovation Solution
An articulated arm system with onboard electronics and sensors that allows for high-frequency observation and immediate action based on local sensor data, using interrupt signals to override main controller responses and enabling distributed logic for faster motion control and multimodal gripping without tool changers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional top-down control architecture with centralized controller is used, then all control logic is in one place, but signal sampling is slow and cable runs are long and error-prone
Solution Approach 1:
The patent segments the control system into distributed intelligent units (end effectors with onboard microcontrollers) that can independently process sensor data and generate control signals, eliminating the single centralized controller bottleneck and enabling parallel signal processing across multiple nodes
Solution Approach 2:
The patent introduces wireless communication as a new dimension for data transmission, replacing traditional wired cable runs with radio frequency communication, thereby eliminating physical cable constraints and enabling flexible, error-free signal transmission between end effectors and main controller
2Reliability
If sensors are wired to control cabinet, then all sensors can be connected, but cable runs are long and error-prone
Solution Approach 1:
The patent replaces the mechanical cable connection system with wireless radio frequency communication, eliminating physical cables entirely and their associated problems of length, interference, and connection errors, while maintaining reliable sensor data transmission
3Device complexity
If end effector has no knowledge of the world, then control is simplified, but responsiveness to environmental conditions is limited
Solution Approach 1:
The patent enables end effectors to be self-sufficient by equipping them with onboard microcontrollers, sensors, and processing capabilities, allowing them to independently perceive environmental conditions, make local decisions, and execute autonomous responses without constant main controller intervention
Solution Approach 2:
The patent implements local feedback loops within each end effector where onboard sensors continuously monitor environmental conditions and immediately adjust actuator outputs in response to detected changes, enabling rapid adaptive behavior without waiting for centralized controller processing
4Ease of operation
If traditional polling architecture is used, then control logic is centralized, but dynamic control and responsiveness to changing environments is limited
Solution Approach 1:
The patent transforms the static, periodic polling architecture into a dynamic event-driven system where end effectors continuously monitor conditions and immediately transmit interrupt signals to the main controller when changes are detected, enabling real-time responsiveness to environmental dynamics while maintaining simplified control logic through standardized communication protocols
Data Source
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AI summary
An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.