Fieldbus Robot Tracking for Low-Latency Motion Control
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Solution Overview
Problem
Existing laser tracker and active target systems for robotic applications require extensive cabling, leading to increased weight, cost, and reduced reliability, with wireless connections introducing latency that renders them unsuitable for real-time dynamic motion control.
Innovation Solution
A fieldbus network-based system that connects a tracking base, tracking target, and robot arm actuators, sensors, and laser trackers, allowing for real-time position and orientation measurements with minimal latency and reduced cabling, enabling precise control of robotic movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a hard wired connection is used between the laser tracker and the active target, then measurement accuracy and reliability are improved, but device complexity and cabling requirements increase
Solution Approach 1:
The patent combines the laser tracker and active target into an integrated system where the target is mounted directly on the robot arm, eliminating the need for separate cabling between independent components. This integration reduces cabling complexity while maintaining connection reliability through direct mechanical and electrical coupling.
Solution Approach 2:
The fieldbus network serves multiple functions simultaneously: it provides communication between the controller and robot arm actuators, transmits position and orientation data from the tracking system, and enables real-time control signals. This multi-functionality reduces the need for dedicated cables for each function, simplifying the overall cabling structure.
2Measurement precision
If a hard wired connection is used between the laser tracker and the active target, then measurement accuracy is improved, but installation and maintenance difficulty increase
Solution Approach 1:
By integrating the active target mounting directly onto the robot arm structure, the system eliminates complex cable routing through articulated booms and multiple connectors. The target and tracker share a common reference frame, simplifying installation while maintaining measurement precision through direct mechanical coupling.
3Device complexity
If wireless connection is used between the laser tracker and the active target, then device complexity is reduced, but latency increases making real-time control impossible
Solution Approach 1:
The fieldbus network provides real-time communication capabilities for multiple functions simultaneously, including high-speed data transmission for position and orientation measurements, control signals for robot arm actuators, and synchronization protocols. This enables real-time control with minimal latency while maintaining a simplified networked architecture.
4Reliability
If extensive cabling is used to connect the laser tracker and active target, then connection reliability is improved, but system weight and cost increase
Solution Approach 1:
The integration of the active target onto the robot arm eliminates long external cables and multiple connectors, reducing the weight of moving components. The simplified connection structure maintains reliability through direct mechanical and electrical coupling while significantly reducing overall system weight.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves high accuracy and reliability in robotic movements by reducing latency and cabling complexity, allowing for precise control of robotic arms in dynamic environments with improved stability and reduced operational costs.
Implementation Method 1
Laser trackers such as those described in U.S. Pat. Nos. 4,714,339 and 4,790,651 can be used to measure the position and orientation of a target
Data Source
AI summary
A system for performing interactions within a physical environment, the system including: a robot having a robot base that undergoes movement relative to the environment and a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a communications system including a fieldbus network; a tracking system including a tracking base positioned in the environment and connected to the fieldbus network, and a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and a control system that communicates with the tracking system via the fieldbus network to determine the relative position and/or orientation of the tracking target and controls the robot arm in accordance with the relative position and/or orientation of the tracking target.