Real-Time Robot Control Framework for Custom Reactions
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Solution Overview
Problem
Existing robotics frameworks lack the ability to customize interfaces for real-time control systems, limiting their flexibility and precision in handling asynchronous programming and streaming inputs, which are crucial for high-precision tasks.
Innovation Solution
A unified real-time robotics control framework that allows users to define custom real-time reactions, callbacks, and streaming inputs, enabling seamless integration of sensor data and asynchronous programming while maintaining strict timing constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a unified real-time robotics control framework is implemented to allow custom reactions and callbacks, then adaptability and ease of operation are improved, but device complexity increases
Solution Approach 1:
The control framework is segmented into distinct layers: a real-time control layer that handles time-critical robot control operations and a non-real-time layer that handles higher-level application logic. This segmentation allows each layer to be optimized independently, maintaining real-time performance while enabling custom adaptability through the non-real-time layer.
Solution Approach 2:
A bridging module serves as an intermediary between the real-time and non-real-time layers. This mediator translates and coordinates commands between layers, enabling custom reactions and callbacks without compromising the deterministic timing of the real-time control layer.
2Ease of operation
If custom real-time reactions and callbacks are allowed, then ease of operation is improved, but reliability may worsen due to potential timing violations
Solution Approach 1:
The framework dynamically manages execution by allowing custom callbacks to be registered and triggered only at appropriate real-time boundaries. The system adapts its control flow to accommodate user-defined reactions while maintaining strict timing constraints through the layered architecture that isolates dynamic operations from critical real-time loops.
3Adaptability or versatility
If streaming inputs with varying rates are supported, then adaptability is improved, but loss of time increases due to non-deterministic input arrival
Solution Approach 1:
The framework performs preliminary buffering and preprocessing of streaming inputs in the non-real-time layer before they reach the real-time control layer. This advance preparation ensures that when data arrives at the real-time layer, it is already formatted and ready for immediate processing, eliminating timing delays caused by variable input rates.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.