Robot Control System with Dynamic Actuator Authorization
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Solution Overview
Problem
Industrial robots face collisions between controller modules while performing multiple motions, leading to failures, environmental damage, and human harm due to the inability to simultaneously control multiple joints effectively.
Innovation Solution
A robot control system that includes a plurality of actuators, controller modules, an adjustment module to manage control rights, and an abstraction layer to ensure only authorized modules execute motions, preventing collisions by registering and managing control rights over actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple controller modules execute programs simultaneously to perform different motions, then the robot can perform multiple motions at the same time, but collisions between controller modules occur causing failures and harm
Solution Approach 1:
An adjustment module is introduced as an intermediary between controller modules and actuators. This module receives motion requests, determines which controller module should execute them based on actuator control rights, and routes commands accordingly. This mediator prevents direct collisions by ensuring only authorized controller modules control specific actuators at any given time.
Solution Approach 2:
The system implements dynamic control right assignment where controller modules can acquire and release control rights over actuators based on their current motion tasks. The control rights are not fixed but dynamically allocated, allowing flexible simultaneous operation of multiple controller modules while preventing conflicts through real-time authorization management.
2Reliability
If restriction is applied to allow operation of only one controller module at a time, then collisions between control commands are prevented, but the robot cannot simultaneously perform multiple motions
Solution Approach 1:
The control authority over actuators is segmented and allocated to different controller modules based on their specific motion tasks. Instead of having a single global controller, the system divides control rights into discrete segments that can be independently assigned to different controller modules, enabling parallel operation without collisions.
Solution Approach 2:
The system changes the parameter of control authorization from a binary state (one controller at a time) to a multi-dimensional state where multiple controller modules can hold control rights simultaneously for different actuators. This parameter transformation enables concurrent execution of multiple motions while maintaining collision prevention.
3Ease of operation
If controller modules directly control actuators without centralized management, then operation flexibility is improved, but control collisions and system instability occur
Solution Approach 1:
The adjustment module serves as a centralized mediator that maintains system stability while preserving controller module flexibility. It provides a standardized interface for controller modules to request actuator control, validates requests against existing control rights, and coordinates allocations to prevent conflicts. This intermediary layer ensures systematic stability without restricting operational flexibility.
Solution Approach 2:
The system implements feedback mechanisms where the adjustment module continuously monitors actuator control status and provides information to controller modules about available control rights. This feedback enables controller modules to make informed decisions about motion execution while the centralized module maintains overall system coherence and stability.
Data Source
AI summary
A robot control system and method includes plural actuators provided on a robot, plural controller modules, each of which controls at least one of the actuators and includes a program to perform a motion and an ID, an adjustment module to register a control right of each controller module over the at least one of the actuators and to perform at least one motion when a request for the at least one motion is made, and an abstraction layer module to judge whether or not a detected controller module is a controller module having the control right over the at least one of the actuators by confirming the ID of the controller module, and to drive the at least one of the actuators by controlling execution of the controller module upon judging that the detected controller module is the controller module having the control right.