Robot Arm Laser Tracking via Fieldbus for Real-Time Control
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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, and introduce latency when used wirelessly, making them unsuitable for real-time control of dynamic motion.
Innovation Solution
A system utilizing a fieldbus network to connect a tracking base, tracking target, and control system, allowing for real-time determination of position and orientation via a laser tracking system, with minimal latency and cable usage, enabling precise control of a robot arm's movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dedicated cables are used to connect laser tracker and active target, then measurement precision is maintained, but device complexity and weight increase
Solution Approach 1:
The patent extracts the cable connection requirement from the laser tracker system by implementing a wireless communication interface. The tracker controller directly communicates with the robot controller via wireless signals, eliminating the need for dedicated cables while maintaining measurement precision through continuous real-time data transmission of target position and orientation information.
Solution Approach 2:
The patent replaces the mechanical cable connection system with an electromagnetic wireless communication system. The laser tracker and active target system uses optical beams for measurement while control data is transmitted wirelessly through electromagnetic signals, substituting the mechanical cable infrastructure with a non-contact communication paradigm.
2Speed
If dedicated cables are routed through robot arm, then real-time control is achieved, but reliability decreases due to multiple connectors
Solution Approach 1:
The patent removes the vulnerable cable and connector infrastructure from the robot arm by implementing wireless communication between the tracker controller and robot controller. This extraction eliminates multiple plug and socket connectors that would be required for cable assembly, maintenance, and disassembly, thereby improving reliability while maintaining real-time control response through wireless data transmission.
Solution Approach 2:
Instead of connecting the laser tracker to the robot controller through cables running along the robot arm, the patent inverts the connection approach by using wireless communication. The tracker controller wirelessly transmits control and measurement data to the robot controller, reversing the traditional wired connection paradigm and eliminating the reliability issues associated with physical cable routing through moving components.
3Device complexity
If wireless communication is used for laser tracker, then cable complexity is reduced, but latency increases making real-time control difficult
Solution Approach 1:
The patent merges the laser tracker measurement function with the robot control system by implementing a integrated wireless communication protocol. The tracker controller and robot controller are merged into a unified control architecture that processes position and orientation data in real-time through direct wireless communication, eliminating the time losses associated with traditional wired interfaces and multiple communication layers.
Solution Approach 2:
The patent implements a dynamic wireless communication system that adapts transmission frequencies and data rates based on real-time control requirements. The wireless communication protocol dynamically adjusts its parameters to maintain low latency during high-speed robot operations while reducing power consumption during slower operations, ensuring real-time control performance is maintained despite the wireless medium.
4Adaptability or versatility
If multiple plug and socket connectors are used for cable assembly, then connection flexibility is improved, but ease of repair deteriorates
Solution Approach 1:
The patent extracts the entire cable and connector assembly from the laser tracker system by implementing wireless communication. The tracker controller communicates with the robot controller through wireless signals, completely removing the need for plug and socket connectors that would be required for cable assembly and maintenance, thereby dramatically improving ease of repair while maintaining connection flexibility through wireless reconfigurability.
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-frequency, low-latency tracking and control of a robot arm, ensuring accurate positioning and orientation with reduced cable and weight, enhancing reliability and enabling real-time interaction within dynamic environments.
Implementation Method 1
a laser tracker and active target system
Implementation Method 2
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
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.