Distributed Robotic Controller for Low-Latency Skill Coordination
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Solution Overview
Problem
Existing robotic systems rely on commodity hardware controllers that limit flexibility and introduce latency and errors due to centralized decision-making, leading to suboptimal performance and efficiency.
Innovation Solution
A robotic controller is integrated closer to the robotic elements, utilizing an AI-powered computing platform that makes real-time decisions and coordinates skills, such as gripper operations and motion planning, to enhance flexibility and responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a centralized control computer processes all sensor data and makes decisions, then system coordination is simplified, but latency and response time increase
Solution Approach 1:
The control system is segmented into distributed controller units, each responsible for specific robotic elements. Each controller independently processes sensor data and makes decisions locally, eliminating the single-point bottleneck of centralized control and reducing decision latency.
Solution Approach 2:
The control architecture transitions from a vertical hierarchical structure (centralized top-down control) to a horizontal distributed structure where controllers operate at the same level and can communicate peer-to-peer, adding a dimensional shift that improves response time.
2Ease of manufacture
If commodity hardware controllers are used with robotic arms, then hardware compatibility is improved, but system flexibility and performance potential are limited
Solution Approach 1:
The controller units are designed with universal interfaces and standardized communication protocols that enable them to work with multiple types of robotic elements from different manufacturers. This multi-functionality allows the system to maintain hardware compatibility while achieving greater flexibility through software-configurable control strategies.
Solution Approach 2:
The control system employs dynamic, reconfigurable controller units that can adapt their behavior and control parameters in real-time based on task requirements. This dynamic capability allows the same hardware to flexibly adjust performance characteristics without being locked into fixed manufacturer-specific limitations.
3Power
If sensor data is sent to a remote control computer for processing, then computational resources are centralized, but communication bandwidth and response speed are reduced
Solution Approach 1:
Computational processing is segmented and distributed to local controller units positioned near the robotic elements they control. This segmentation allows sensor data to be processed immediately at the source without requiring continuous communication with a remote computer, thereby maintaining computational capability while dramatically improving processing speed.
4Device complexity
If a single control computer manages all robotic elements, then system integration is simplified, but points of failure increase and reliability decreases
Solution Approach 1:
The control system is divided into independent controller units, each managing specific robotic elements. This segmentation creates redundancy where the failure of one controller does not necessarily bring down the entire system, as other controllers continue to operate independently, thereby improving reliability while maintaining manageable integration through standardized interfaces.
Data Source
AI summary
An integrated robotic controller is disclosed which includes a communication interface configured to provide connectivity to a set of elements comprising a robotic system and a processor coupled to the communication interface and configured to: receive state information via the communication interface from or more elements included in the set of elements; make based at least in part on the state information a decision as to how to control one or more elements included in the set of elements; and send to each of the one or more elements, via the communication interface, a command determined based on at least in part on the decision.