Robot Motion Control via Cache Circuit Buffering
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Solution Overview
Problem
Current robot motion control systems experience incoherence and pauses during limb actions like dancing due to the need for upper applications to wait for servo completion of previous instructions, leading to inefficiencies in instruction transmission and execution.
Innovation Solution
A method involving a main control circuit continuously transmitting controlling instructions to a cache circuit, which stores and manages servo control information, allowing the driving circuit to directly obtain and execute the next instruction once the previous one is completed, reducing waiting time and improving coherence by integrating the main control, cache, and driving circuits on the same board or chip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the upper application transmits the next instruction only after the servo completes the previous instruction, then the system ensures accurate execution of each motion command, but the robot's limb actions become incoherent and pause frequently
Solution Approach 1:
The patent applies preliminary action by pre-transmitting multiple motion instructions to the servo driver before the servo completes previous movements. The CPU transmits a plurality of instructions in advance, and the servo driver stores them for sequential execution, allowing the upper application to continue transmitting instructions without waiting for servo completion, thus eliminating pauses and improving motion coherence while maintaining execution accuracy
Solution Approach 2:
The patent introduces an intermediary component - the servo driver - that acts as a buffer between the upper application and the servo motor. The servo driver receives, stores, and manages multiple instructions, decoupling the instruction transmission rate from the servo execution rate. This intermediary enables continuous instruction flow while ensuring accurate servo execution, resolving the contradiction between reliability and productivity
2Reliability
If the main control circuit waits for servo completion before transmitting the next instruction, then each motion command is executed accurately, but the instruction transmission efficiency decreases and waiting time increases
Solution Approach 1:
The main control circuit transmits multiple motion instructions to the servo driver in advance, before the servo motor completes previous movements. This preliminary transmission eliminates waiting time by ensuring instructions are ready in the servo driver's storage when needed, while the servo driver manages execution accuracy independently
Solution Approach 2:
The patent enables continuous instruction transmission by the main control circuit without interruption or waiting for servo completion. The servo driver continuously receives, stores, and processes instructions, maintaining continuous useful action in the control system while ensuring accurate servo execution through its internal instruction management mechanism
Data Source
AI summary
The present disclosure relates to a motion-controlling method of a robot and the robot thereof. A main control circuit continuously transmits a controlling instruction to a cache circuit. The controlling instruction may include the controlling information of a specific servo. A driving circuit is configured to obtain and analyze the controlling instruction from the cache circuit, so as to obtain the controlling information of the specific servo. The driving circuit transmits the controlling information to the specific servo to control the specific servo. As such, coherence of the robot may be improved.