Multi-Arm Robot Control System Timing Synchronization
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Solution Overview
Problem
Conventional methods for coordinating the motion of multiple robots require specialized and expensive hardware for precise clock synchronization, which is not necessary for industrial robot systems, and are inflexible in handling various combinations of robot manipulators and servo systems.
Innovation Solution
A software-based method that uses a standard communications network to provide common timing among controllers, allowing slave or shadow controllers to communicate with a master controller to determine timing corrections and synchronize event command signals within a few milliseconds, eliminating the need for precise clocks and specialized hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If hardware mechanisms like IEEE-1588 protocol or highly precise clock circuits are used to provide common timing, then timing accuracy is improved to within microseconds, but device complexity and cost increase due to specialized hardware requirements
Solution Approach 1:
The patent replaces hardware-based timing synchronization mechanisms (specialized clock circuits and IEEE-1588 hardware) with a software-based solution. The software running on general-purpose controllers establishes a master-slave relationship where the master controller distributes timing information to slave controllers through standard communication protocols, eliminating the need for specialized hardware while achieving sufficient timing accuracy for industrial robot applications
Solution Approach 2:
The slave controllers maintain a copy of the master controller's timing information by receiving and storing timing data from the master. This copying mechanism allows all controllers to operate with synchronized timing references without requiring identical hardware configurations, enabling flexible multi-robot systems using standard off-the-shelf controllers
2Adaptability or versatility
If multiple generic controllers are used to control a multi-armed system, then adaptability and flexibility are improved, but timing synchronization becomes difficult due to independent timing systems in each controller
Solution Approach 1:
The patent merges the independent timing systems of multiple generic controllers into a unified timing architecture. By designating one controller as the master and others as slaves, the system combines their timing functions while maintaining the flexibility of using generic controllers. The master controller's timing serves as the reference for all slave controllers, achieving coordinated operation across the multi-robot system
3Measurement precision
If conventional hardware connection methods are used to coordinate robot controllers, then timing coordination is improved, but adaptability decreases due to limited support for various combinations of robot manipulators and servo systems
Solution Approach 1:
The patent implements a universal timing synchronization approach that works across different combinations of robot manipulators and servo systems. The master-slave software architecture allows any generic controller to serve as master or slave depending on the application requirements, enabling the system to adapt to various configurations without requiring specialized hardware connections for each robot type
Data Source
AI summary
A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.