Robot Control Calculation Unit for Simplified Programming
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Solution Overview
Problem
Existing robotic control systems are complex and not very versatile due to the need to incorporate specific kinematic models and manage intermotor dependencies, making them difficult to program and prone to errors, especially when switching between different robot types or handling motor failures.
Innovation Solution
A method that simplifies the programming of a robot control unit by treating each motion control axis independently, with the calculation unit handling kinematic models and intermotor communication, allowing for versatile programming across different robot types and optimizing motor control operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the control unit incorporates specific kinematic models and manages intermotor dependencies, then the robot control accuracy is improved, but the programming complexity increases and versatility decreases
Solution Approach 1:
The system is segmented into two functional parts: the control unit that handles high-level motion commands and the calculation unit that handles kinematic model calculations and motor coordination. This segmentation allows the control unit to remain simple while the calculation unit manages the complex kinematic transformations and intermotor dependencies.
Solution Approach 2:
The calculation unit acts as an intermediary between the control unit and the motor controllers. It receives motion commands from the control unit, performs kinematic model calculations, determines appropriate motor commands, and transmits them to the motor controllers. This intermediary handles the complexity of kinematic models and intermotor dependencies, shielding the control unit from these complexities.
2Manufacturing precision
If the control unit incorporates specific kinematic models for each robot type, then the robot control accuracy is improved, but the adaptability to different robot types decreases
Solution Approach 1:
The calculation unit is designed with universal functionality to handle kinematic model calculations for different robot types. It can load and execute appropriate kinematic models based on the robot type, allowing the same control unit architecture to work with various robot configurations without requiring modification of the control unit's core programming.
3Manufacturing precision
If the control unit manages communication with each motor controller, then the control accuracy is improved, but the communication speed decreases
Solution Approach 1:
The calculation unit merges the functions of communicating with multiple motor controllers into a single coordination point. Instead of the control unit communicating separately with each motor controller, the calculation unit consolidates this communication, performing kinematic calculations and generating coordinated motor commands in one place, thereby improving communication efficiency and speed.
4Reliability
If the control unit handles sophisticated shutdown and start-up procedures, then the reliability is improved, but the ease of programming decreases
Solution Approach 1:
The calculation unit is designed to autonomously handle sophisticated shutdown and start-up procedures without requiring explicit programming by the control unit programmer. It automatically manages motor shutdown sequences, brake applications, and start-up routines, making these complex reliability-critical operations transparent to the programmer and improving ease of operation.
Data Source
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AI summary
The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6) along one axis, suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) associating with each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm (4) a controller having an imaginary axis intended for receiving instructions and controlling at least one motor according to said instructions; b) determining, in the control centre (8) and for each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm (4), instructions (Cri) intended for the imaginary-axis controller corresponding to each one of said axes; and then c) sending the instructions (CÛ) determined in step b) to a single arithmetic unit (10) belonging to the device (6) for controlling the robot arm (4).