Control Node Feedback for Wireless Robot Trajectory Accuracy
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Solution Overview
Problem
Traditional robotic systems face performance challenges in closed-loop control due to wireless connections, which introduce packet loss, delay, and jitter, especially in applications requiring precise and rapid movements, such as AGVs, coordinated robotic arms, and human-robot collaboration.
Innovation Solution
A control node measures the distance between a planned trajectory and a boundary surface associated with accuracy requirements, evaluates the performance of the robot device based on this distance, and uses spatial and timing information to optimize communication and minimize deviations from the planned trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wireless connection is used to enable edge cloud control and mobility, then adaptability and ease of operation are improved, but reliability and manufacturing precision deteriorate due to packet loss, delay, and jitter
Solution Approach 1:
The system continuously measures the actual trajectory of the robot device and compares it with the planned trajectory to determine deviation distance. This feedback mechanism allows the system to detect performance degradation caused by wireless connection issues and adjust control commands accordingly, maintaining reliability while using wireless connectivity for adaptability.
Solution Approach 2:
The control node acts as an intermediary between the edge cloud and the robot device. It receives control commands from the edge cloud, measures their execution performance by calculating trajectory deviations, and can send adjusted commands to compensate for wireless connection imperfections, thus mediating between the wireless connection's adaptability and the system's reliability requirements.
2Ease of operation
If wireless connection is used for edge cloud control, then ease of operation is improved, but manufacturing precision deteriorates due to packet loss, delay, and jitter
Solution Approach 1:
The system measures the distance between actual and planned trajectories to provide feedback on execution accuracy. This enables continuous monitoring and adjustment of control commands to maintain manufacturing precision despite the use of wireless connections for ease of operation.
Solution Approach 2:
The control node pre-calculates boundary surfaces and accuracy requirements before executing trajectories. By having these reference standards prepared in advance, the system can quickly assess whether wireless connection imperfections have caused unacceptable deviations and take corrective action, maintaining precision while benefiting from wireless ease of operation.
3Reliability
If traditional closed-loop control is used with wired connection, then reliability is improved, but adaptability deteriorates due to loss of mobility and flexibility
Solution Approach 1:
The system implements continuous performance measurement by calculating the distance between actual and planned trajectories. This feedback loop enables the system to maintain reliability through active monitoring and adjustment, while simultaneously enabling adaptability by using wireless connections for mobile and flexible robot deployment.
Data Source
AI summary
A method performed by a control node for handling communication with a robot device. The control node determines a distance from a planned trajectory and/or path, and a distance from a boundary surface, which distances are related to a command message received from a robot device, wherein the boundary surface is associated to an accuracy requirement. The control node further measures a performance of the trajectory based on the determined distance from the planned trajectory and/or path and from the boundary surface. The control node further evaluates an effect of the measured performance for the robot device.