Robot Control Cycle Selection Under Variable Network Delay
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot control systems struggle to adapt to varying communication delay times in networked environments, leading to suboptimal operation and increased collision risks due to fluctuating communication delays.
Innovation Solution
A robot control device that generates and selects control plans for multiple control cycles based on real-time communication delay information, allowing for flexible adaptation to varying network conditions and optimizing control cycles to minimize collisions and complete tasks efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed control cycle is used for robot control, then the control system is simple to implement, but it cannot adapt to varying communication delay times leading to suboptimal operation
Solution Approach 1:
The control cycle is changed from a fixed value to a dynamically adjustable parameter. The robot control device now determines control cycles based on real-time communication delay measurements, allowing the system to adapt to varying network conditions. This dynamic adjustment resolves the contradiction by making the control cycle flexible rather than static.
Solution Approach 2:
The control cycle parameter is modified based on communication delay conditions. The system measures communication delays and adjusts the control cycle parameter accordingly - using longer cycles when delays are acceptable and shorter cycles when delays increase. This parameter change approach enables adaptability without requiring complete system redesign.
2Adaptability or versatility
If control plans are generated for multiple control cycles, then the system can adapt to varying network conditions, but the computational load and processing time increase
Solution Approach 1:
Control plans for multiple control cycles are generated in advance before actual robot operation begins. The robot control device creates a set of control plans corresponding to different control cycle scenarios, so that when operation starts, the system can quickly select from pre-computed plans rather than calculating in real-time. This preliminary generation reduces online computational burden.
Solution Approach 2:
The system dynamically selects from pre-generated control plans based on measured communication delays. Instead of generating plans on-demand during operation, the system prepares multiple options beforehand and chooses the appropriate plan based on current network conditions, balancing adaptability with computational efficiency.
3Reliability
If communication delay is not considered in control cycle determination, then the control system operates efficiently, but collision risks increase due to fluctuating communication delays
Solution Approach 1:
The system implements feedback by measuring actual communication delays and using this information to adjust control cycle selection. The robot control device continuously monitors communication performance and feeds this information back into the control plan selection process, ensuring that control cycles are appropriate for current network conditions. This feedback mechanism prevents collisions while maintaining efficiency.
Solution Approach 2:
The system takes preliminary anti-action by selecting control cycles that preemptively account for potential communication delays. By choosing control cycles based on measured delays before collisions can occur, the system prevents problematic situations rather than reacting to them. This approach maintains safety margins while avoiding excessive conservatism.
Data Source
AI summary
A robot control device includes a generation unit that generates control information for controlling a robot to be controlled for each of a plurality of control cycles for the robot, an acquisition unit that acquires control environment information relevant to the control cycles, a selection unit that selects any one of a plurality of the control information based on the acquired control environment information and a relevance between the control environment information and the control cycles, and a control unit that controls the robot using the selected control information, thereby suitably controlling the robot according to the control environment of the robot in a case where the control cycles of the robot depends on the varying control environment of the robot.