Robot Control Device Parallel Track Calculation
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Solution Overview
Problem
Conventional robot controlling devices struggle to perform intricate track calculations and synchronous operations in parallel, leading to incomplete calculations within synchronous times, which results in the multi-joint robot main body being unable to perform smooth or humanly dextrous operations.
Innovation Solution
A robot controlling device with a shared memory system, where one processing unit performs intricate track calculations and stores operation command data, allowing the second processing unit to independently output pre-calculated command values to driving units at predetermined intervals without performing track calculations, enabling simultaneous execution of track calculations and synchronous operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the real time computer performs both intricate track calculations and synchronous operations in parallel, then the robot can potentially perform humanly dextrous operations, but the track calculations cannot be completed within synchronous times because the required times are indefinite
Solution Approach 1:
The patent divides the control system into two separate computers: a general-purpose computer dedicated to performing intricate track calculations, and a real-time computer dedicated to synchronous operations. This segmentation allows each computer to specialize in its respective function without interfering with the other, enabling both humanly dextrous operations and timely synchronous control to be achieved simultaneously.
2Reliability
If the real time computer waits to complete all track calculations before performing synchronous operations, then calculation accuracy is ensured, but the robot operation has to be stopped until calculations end
Solution Approach 1:
The general-purpose computer performs track calculations in advance and stores the results in a shared memory buffer. The real-time computer then retrieves pre-calculated command values from this buffer for synchronous operations. This preliminary action ensures that accurate calculations are completed beforehand, allowing the real-time computer to operate continuously without waiting for calculations during runtime.
3Device complexity
If a single computer performs both track calculations and synchronous operations, then device complexity is reduced, but the robot cannot perform smooth operations when calculation times exceed synchronous times
Solution Approach 1:
The control system is segmented into two independent computers with distinct responsibilities. The general-purpose computer handles complex track calculations, while the real-time computer manages synchronous operations. This segmentation increases device complexity but enables smooth operations by allowing both functions to execute simultaneously without resource contention or timing conflicts.
Data Source
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AI summary
In the control of a multi-joint robot main body (100), it is necessary to execute intricate track calculations and synchronous operations in parallel, even if the track calculations are intricate and times required for the calculations are indefinite. For this purpose, a robot controlling device (200) of the present invention includes a shared memory (203), and first (201) and second (202) processing units connected to the shared memory (203). The first processing unit (201) performs track calculation processing which includes calculating operation command data indicating a series of command values to be output to arm motors (Ma), based on a command to operate the multi-joint robot main body (100) to a desired position posture, and storing the calculated operation command data in the shared memory (203). The second processing unit (202) performs synchronous processing which includes acquiring the operation command data stored in the shared memory (203), and synchronously outputting the command values to the arm motors (Ma) at predetermined time intervals.