Robot Arm Tracking Control With Low-Latency Fieldbus Feedback
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Solution Overview
Problem
Existing laser tracker and active target systems for robot arms require dedicated cables, leading to increased weight, cost, and reduced reliability due to multiple plugs and connectors, and introduce latency when wireless connections are used, making them unsuitable for real-time dynamic motion control.
Innovation Solution
A system utilizing a fieldbus network for communication between the control system, tracking system, and robot components, eliminating the need for dedicated cables and reducing latency to less than 1 ms, allowing for high-frequency position and orientation measurements with accuracies better than 0.01 mm and 0.001 degrees, enabling real-time dynamic stabilization of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dedicated cables are used to connect laser tracker and active target, then measurement accuracy is maintained, but device complexity and weight increase due to multiple plugs and connectors
Solution Approach 1:
The patent replaces the mechanical cable connection system with a wireless communication system. The laser tracker and active target communicate position and orientation data wirelessly, eliminating the need for physical cables, plugs, and connectors while maintaining measurement accuracy through high-frequency data transmission.
2Device complexity
If wireless connections are used between laser tracker and active target, then device complexity is reduced, but latency increases making real-time control difficult
Solution Approach 1:
The patent optimizes wireless communication parameters including transmission frequency, data packet size, and update rate to minimize latency. The system transmits position and orientation data at high frequencies sufficient for real-time dynamic motion control, adjusting communication parameters to achieve low-latency performance.
3Reliability
If dedicated cables are routed along robot arm and boom, then measurement reliability is maintained, but weight of moving components increases
Solution Approach 1:
The patent eliminates the mechanical cable system from the moving robot arm and boom by implementing wireless communication. This removes the weight of cables, plugs, and connectors from the moving components while maintaining measurement reliability through robust wireless data transmission protocols.
4Reliability
If multiple plug and socket connectors are used for cable assembly, then measurement connection is maintained, but ease of repair and maintenance deteriorates
Solution Approach 1:
The patent replaces the complex mechanical plug and socket connector system with wireless communication, eliminating assembly and disassembly requirements. This improves ease of repair and maintenance by removing multiple connection points that could fail or require technical expertise to service.
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 precise and rapid control of the robot arm, allowing it to accurately position the end effector within the environment, even with the robot base moving, by minimizing latency and reducing wiring complexity, thus enhancing the reliability and efficiency of interactions.
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
Implementation Method 2
Orientation measurements (for STS and Tmac) rely on respective vision systems using 2D cameras
Data Source
AI summary
A system for performing interactions within a physical environment including a robot having a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon for performing said interactions, a tracking system that measures a robot position indicative of a position of at least part of the robot relative to the environment, and a control system that determines the robot position; and, controls the robot arm in accordance with the robot position. The tracking system measures the position with a frequency that is at least 10 Hz and measures the position with an accuracy that is at least better than 10 mm, whilst the control system operates with a frequency that is at least 10 Hz.