Multi-Mechanism Joint Control Using Dynamic Motion Dependencies
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Solution Overview
Problem
Existing methods struggle to effectively control synchronous motions among multiple execution mechanisms, especially in complex scenarios involving more than two mechanisms, and fail to achieve synchronization in both centralized and distributed control systems.
Innovation Solution
A method involving determining a dependency relationship among execution mechanisms using a tree data structure, which is dynamically represented, and controlling the joints of these mechanisms based on the determined dependency to achieve synchronized motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mapping table method is used to control synchronous motions, then two execution mechanisms can perform synchronous motions, but the method becomes difficult to apply when the number of execution mechanisms increases to more than two
Solution Approach 1:
The patent segments the control of multiple execution mechanisms by establishing a hierarchical dependency relationship structure. Instead of using a single complex mapping table for all mechanisms, the system divides the control into multiple levels where each execution mechanism's motion depends on its parent mechanism's motion. This segmentation allows the system to scale from two to many mechanisms without exponentially increasing control complexity.
Solution Approach 2:
The patent transitions from a two-dimensional mapping table approach (suitable for two mechanisms) to a multi-dimensional hierarchical dependency structure. By introducing the dimension of dependency levels and parent-child relationships, the system can accommodate any number of execution mechanisms while maintaining manageable control complexity through the tree-like structure.
2Adaptability or versatility
If synchronous data is exchanged among all execution mechanisms according to a synchronization dependency relationship, then data interaction can be realized, but the method cannot achieve desired effect in a centralized control system
Solution Approach 1:
The patent creates a universal dependency relationship determination method that functions effectively in both distributed and centralized control systems. The same algorithm for establishing parent-child dependency relationships and calculating motion parameters works across different control architectures, making the system universally applicable while maintaining reliable synchronization through the standardized dependency framework.
3Productivity
If the number of execution mechanisms is increased to complete more complicated tasks, then task capability is improved, but the synchronous dependency relationship becomes more complex
Solution Approach 1:
The patent implements dynamic dependency relationship determination where the system automatically adapts the dependency structure based on the specific task requirements and the number of execution mechanisms involved. As mechanisms are added to complete more complicated tasks, the system dynamically establishes appropriate parent-child relationships and motion dependencies, preventing the complexity from becoming unmanageable through automated structural adaptation.
Data Source
AI summary
Various embodiments of the teachings herein include a method for controlling a plurality of execution mechanisms. The method may include: determining a dependency relationship of synchronous motions among the plurality of execution mechanisms, wherein the dependency relationship represents motions of a second group of execution mechanisms in the plurality of execution mechanisms depending on motions of a first group of execution mechanisms in the plurality of execution mechanisms; determining an execution order of the first group of execution mechanisms and the second group of execution mechanisms according to the dependency relationship; determining rotation angles of joints coupled to corresponding execution mechanisms; and sequentially controlling the joints to respectively rotate by the determined rotation angles according to the determined execution order.