Robot Control Node Command Switching for Wireless Delay Resilience
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Solution Overview
Problem
Wireless communication in closed-loop control systems for robotic devices often results in lost or delayed control commands, leading to inaccuracies and inefficiencies due to the lack of resistance against packet loss and delay.
Innovation Solution
A control node determines a time limit for maximum tolerable deviation from a trajectory for joint-space and Cartesian-space commands, selecting the command type that reaches this limit later to minimize position errors and improve communication efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wireless connection is used for control commands, then ease of operation is improved, but reliability deteriorates due to command loss and delay
Solution Approach 1:
The system dynamically switches between joint-space command mode and Cartesian-space command mode based on real-time communication conditions. When wireless packet loss or delay is detected, the system transitions to the command mode that is less sensitive to these disruptions, thereby maintaining reliability while preserving the ease of wireless operation.
Solution Approach 2:
The invention changes the control parameter space by switching between two different command representations (joint-space vs. Cartesian-space). This parameter transformation allows the system to adapt to varying communication reliability conditions, selecting the representation that minimizes the impact of packet loss and delay on trajectory tracking accuracy.
2Reliability
If traditional robotic control is used with wired connection, then reliability is improved, but ease of operation deteriorates
Solution Approach 1:
The system maintains the flexibility and ease of wireless operation while dynamically adapting to communication conditions. By implementing adaptive command selection, the system achieves reliability comparable to wired connections without sacrificing the operational flexibility and ease that wireless control provides.
Solution Approach 2:
The system incorporates feedback about communication quality (packet loss, delay) to make real-time decisions about command transmission. This feedback mechanism allows the system to maintain high reliability by selecting appropriate command modes based on actual communication conditions, thereby compensating for the inherent weaknesses of wireless connections.
3Measurement precision
If joint-space command is used, then control precision is improved, but position error increases when command loss occurs
Solution Approach 1:
The system dynamically selects between joint-space and Cartesian-space command modes based on communication reliability. When packet loss or delay is detected, it switches to the mode that maintains better trajectory accuracy, thereby preserving control precision while minimizing position error under adverse conditions.
Solution Approach 2:
The invention transforms the control parameter representation from joint-space to Cartesian-space (or vice versa) depending on communication conditions. This parameter transformation allows the system to maintain precision in the task-relevant space even when communication disruptions occur, as Cartesian commands may be more robust to certain types of packet loss.
4Measurement precision
If Cartesian-space command is used, then position control is improved, but control precision deteriorates when delay occurs
Solution Approach 1:
The system dynamically adapts the command representation based on real-time communication quality. When delay is detected, it switches to the command mode that is less sensitive to timing disruptions, thereby maintaining both position control accuracy and overall control precision despite communication delays.
Solution Approach 2:
The system changes the control parameter space to compensate for communication delays. By switching between joint-space and Cartesian-space representations, the system can maintain accurate position control even when delays occur, as the alternative parameter representation may be more resilient to timing variations.
Data Source
AI summary
A method performed by a control node for handling communication with a robot device. The control node determines a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types. The at least two control command types include a joint-space command and a Cartesian-space command. The control node selects the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types.