Distributed Robot Control Cycle Stabilization via Serial Sync
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Solution Overview
Problem
In distributed robot control systems, the synchronization signal cycle can fluctuate due to processing and communication loads, leading to instability and increased costs from the need for multiple signal lines for synchronization, making it difficult to reduce communication cable costs.
Innovation Solution
A robot system where second control devices determine their control cycle based on information received from a first control device at specific time points, allowing them to control targets at a predetermined cycle without requiring exclusive synchronization signal wiring, and using serial communication standards like CAN for synchronization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a distributed control system uses a main control device and sub-control devices connected by serial communication cable, then the processing load on the main control device is reduced, but the control cycle of sub-control devices fluctuates due to processing and communication loads
Solution Approach 1:
The sub-control device receives synchronization signals from the main control device and uses them to adjust its control cycle dynamically. The synchronization signal contains timing information that allows the sub-control device to compensate for fluctuations caused by processing and communication loads, thereby maintaining stable control cycles while benefiting from distributed processing
Solution Approach 2:
A synchronization signal acts as an intermediary mechanism between the main control device and sub-control devices. This synchronization signal carries timing information that mediates the relationship between distributed processing operations and control cycle execution, allowing sub-control devices to maintain stable cycles despite variations in main device processing load
2Reliability
If a dedicated signal line is provided for transmitting synchronization signals in a distributed control system, then the synchronization between main control device and sub-control devices is improved, but the number of signal lines increases and cost increases
Solution Approach 1:
The serial communication cable serves multiple functions: it transmits both control data between the main control device and sub-control devices, and simultaneously transmits synchronization signals. This multi-functional use of the existing communication infrastructure eliminates the need for dedicated synchronization signal lines, reducing the total number of signal lines while maintaining synchronization accuracy
Solution Approach 2:
The synchronization signal transmission function is merged with the existing data communication function of the serial communication cable. By combining these two functions into a single communication channel, the system reduces the number of required signal lines and simplifies the overall wiring structure while maintaining reliable synchronization
Data Source
AI summary
A robot includes a first control device; and one or more second control devices to be controlled by the first control device. The second control device controls a control target controlled by the second control device at a predetermined cycle. The predetermined cycle is determined based on first information received by the second control device from the first control device at a first time point and second information received by the second control device from the first control device at a second time point.