Multi-Path Planner Robot Synchronization Control
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Solution Overview
Problem
Existing control systems for multiple mechanical units, such as industrial robots and external axes, face challenges in allowing individual movement while maintaining synchronization, particularly when one unit needs to be moved independently for maintenance, and require rewriting control programs with changes in the system configuration, leading to reduced accuracy and speed due to master-slave concept delays.
Innovation Solution
A control system with multiple mechanical unit programs and path planners that allow switching between independent and synchronized movements by connecting units to the same or different path planners, enabling parallel interpolation and considering mechanical unit limitations, thus enhancing synchronization accuracy and speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single general control program is used to control multiple mechanical units, then synchronization is achieved, but individual movement for maintenance becomes impossible
Solution Approach 1:
The control system is segmented into multiple independent path planners, each capable of handling individual mechanical units. This allows the system to switch between centralized synchronization control and decentralized individual control, resolving the contradiction between maintaining synchronization accuracy and enabling individual movement for maintenance.
Solution Approach 2:
The control architecture dynamically reconfigures by switching the status of mechanical units between synchronized and independent modes. This dynamic adaptability allows the system to maintain high synchronization accuracy during coordinated operations while enabling individual movement when maintenance is required.
2Productivity
If a master-slave concept is used for synchronization, then coordination is achieved, but delays reduce accuracy and speed
Solution Approach 1:
Multiple path planners are merged into a single centralized path planning entity that simultaneously plans trajectories for all mechanical units. This eliminates the sequential master-slave communication delays, as all units receive coordinated motion commands from the same planning source, thereby improving both synchronization accuracy and operation speed.
Solution Approach 2:
A centralized path planner acts as an intermediary that receives motion requirements from all mechanical units and generates coordinated trajectories for all of them simultaneously. This mediator approach eliminates the hierarchical delays inherent in master-slave systems, achieving high-precision synchronization without compromising operation speed.
3Adaptability or versatility
If control programs are rewritten when system configuration changes, then adaptability is achieved, but complexity and time increase
Solution Approach 1:
The control system employs a universal path planning framework that can handle both synchronized and independent operations of multiple mechanical units through a single standardized interface. This multi-functionality allows the system to adapt to configuration changes without requiring program rewrites, as the same path planning infrastructure serves all operational modes.
Solution Approach 2:
The control system automatically adapts to configuration changes by dynamically allocating path planners to mechanical units based on their operational status. This self-service capability eliminates the need for manual program modification when adding or removing units, reducing both complexity and reconfiguration time.
Data Source
AI summary
A control system for controlling the movements of a plurality of mechanical units. The control system includes a program that includes a plurality of mechanical unit programs. Each program includes movement instructions for at least one of the mechanical units. The control system also includes a plurality of path planners. At least one of the path planners is adapted to receive instructions from more than one of the mechanical unit programs and on basis thereof determine how the mechanical units should move in order to synchronize their movements. The control system further includes switches adapted to switch a mechanical unit program from one path planner to another, whereby the movements of the mechanical units are synchronized when their mechanical unit programs are connected to the same path planner and the movements of the mechanical units are independent when their mechanical unit programs are connected to different path planners.