Multi-Core Robot Control for Stable Communication Without RTOS

Solution Overview

Problem

Existing robot control systems using general-purpose operating systems face instability due to interference from other application software, and introducing a real-time operating system can lead to compatibility issues and the need for additional communication boards, complicating system integration.

Innovation Solution

A robot control system utilizing an upper-level control unit with isolated processor cores for communication tasks, allowing for stable robot control without a real-time operating system by isolating and assigning specific processor cores for communication with lower-level control units, and implementing a non-real-time communication protocol.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a real-time operating system is introduced onto a general-purpose operating system, then real-time control capability is improved, but system compatibility and ease of operation deteriorate due to configuration issues and additional communication boards required

Engineering Contradiction:

Improvereal-time control capabilityVSAvoidsystem compatibility

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The processor is divided into multiple independent cores, with specific cores dedicated to communication tasks and others to application software. This segmentation allows the communication functions to operate with real-time determinism while application software runs on the general-purpose OS without interference, eliminating the need for a separate real-time OS and additional communication boards.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The invention merges the real-time communication capability and general-purpose application execution into a single processor system. By utilizing multiple processor cores within one processor, it combines the benefits of real-time control and flexible application software operation without requiring separate hardware systems or complex OS layering.

Inventive Principle:

Principle #5Merging (Combining)

2Reliability

If a real-time operating system is introduced onto a general-purpose operating system, then real-time control capability is improved, but device complexity increases due to additional communication boards and system configuration requirements

Engineering Contradiction:

Improvereal-time control capabilityVSAvoidsystem configuration

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The processor is divided into multiple independent cores, with specific cores dedicated to communication tasks and others to application software. This segmentation allows the communication functions to operate with real-time determinism while application software runs on the general-purpose OS without interference, eliminating the need for a separate real-time OS and additional communication boards.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The existing communication board controlled by the general-purpose operating system is made multi-functional by dedicating specific processor cores to communication tasks. This allows the same hardware to perform both real-time communication and general-purpose computing functions, eliminating the need for additional dedicated communication hardware.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Reliability

If processor cores are isolated for communication tasks, then communication stability is improved, but processor resource utilization may deteriorate

Engineering Contradiction:

Improvecommunication stabilityVSAvoidprocessor resource utilization

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The processor is divided into multiple independent cores, with specific cores dedicated to communication tasks and others to application software. This segmentation allows the communication functions to operate with real-time determinism while application software runs on the general-purpose OS without interference, eliminating the need for a separate real-time OS and additional communication boards.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS12564950B2Robot control method, robot control system, and robot control program

Publication Date: 2026.03.03 SEIKO EPSON CORP

AI summary

In a robot system including robots, lower-level control units respectively coupled to the robots and controlling one of the robots, and an upper-level control unit coupled to the lower-level control units and transmitting command information for control of the robots to the lower-level control units, a method of controlling the robots executed by the upper-level control unit is provided. The upper-level control unit includes a processor having a plurality of processor cores. Part of the processor cores of the plurality of processor cores are isolated from the other processor cores. Communication tasks with the lower-level control units are assigned to the isolated part of the processor cores. The isolated part of the processor cores are controlled to execute the communication tasks with the lower-level control units and the command information is transmitted to the lower-level control units. The isolation of the isolated part of the processor cores is released.