Distributed Mechanical Arm Control for Computational Load Reduction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current mechanical arm systems rely heavily on a central processing system for calculations, leading to computational overload, underutilization of hardware resources, and increased costs, limiting their flexibility and accuracy, especially in complex manufacturing applications.
Innovation Solution
A mechanical arm system with a distributed control system where each link calculates independently using local control devices, including a first control unit, mechanical arm control unit, driving unit, and measurement processing unit, to reduce the computational load on the central processing system and maximize hardware resource usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a central processing system is used to control all links, then the system architecture is simple, but the computational load becomes too heavy and the central processing system cannot handle the required calculations
Solution Approach 1:
The patent divides the central processing system into distributed control units, with each link having its own control unit that performs local calculations. This segmentation distributes the computational load across multiple independent units, eliminating the bottleneck of a single central processor while maintaining system functionality.
Solution Approach 2:
The patent transitions from a single-dimensional central control architecture to a multi-dimensional distributed control architecture. Each control unit operates independently in its own computational space, creating a parallel processing structure that dramatically increases overall calculation capability without increasing structural complexity.
2Ease of operation
If the central processing system performs most calculations, then the system is easier to control, but hardware resources are wasted and costs increase
Solution Approach 1:
Each link's control unit performs its own calculations locally without requiring assistance from the central processing system. This self-service approach allows each control unit to independently execute control algorithms, maximizing hardware resource utilization and eliminating the waste of having idle processors in each link.
Solution Approach 2:
The patent combines the control functions and calculation capabilities into each individual link's control unit, merging what were previously separate functions (central control and local execution) into integrated units. This eliminates the need for redundant hardware resources while maintaining ease of control through distributed intelligence.
3Device complexity
If the central processing system handles all calculations, then the system structure is centralized, but it is difficult to deal with other operations and the architecture cannot be widely applied
Solution Approach 1:
Each control unit in the distributed architecture is designed to be universal and multi-functional, capable of handling various operations beyond just control calculations. This universality allows the same hardware platform to be applied across different mechanical arm configurations and applications, significantly increasing adaptability and versatility.
Solution Approach 2:
The patent creates a dynamic control architecture where each control unit can independently adapt to different operational requirements. This dynamic structure allows the system to be reconfigured for different applications by adjusting individual control units rather than redesigning the entire centralized system, enhancing adaptability.
Data Source
AI summary
A mechanical arm system includes at least two links, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end-position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.