Robot Control Architecture for Planner-Independent Cyclic Operation
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Solution Overview
Problem
Existing robot control systems lack efficient and flexible control mechanisms that can adapt to dynamic operational conditions and user inputs, leading to suboptimal performance and limited adaptability.
Innovation Solution
A control system comprising a robot controller, operation planner, and storage that allows the robot controller to operate cyclically without relying on the status of the operation planner, enabling independent and adaptive control of robot operations based on real-time sensor data and user inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot controller waits for the operation planner to generate target operations before executing tasks, then the control system maintains sequential coordination, but the robot controller experiences idle waiting time and reduced productivity
Solution Approach 1:
The robot controller performs task execution in advance without waiting for the operation planner to generate target operations. The controller executes tasks based on previously received target operations or default operations, allowing the operation planner to generate new target operations independently in parallel, thereby eliminating idle waiting time and improving overall system productivity
2Productivity
If the robot controller operates independently without relying on operation planner status, then the system achieves higher adaptability and productivity, but the control architecture becomes more complex
Solution Approach 1:
The control system is divided into independent functional modules: the operation planner module that generates target operations, and the robot controller module that executes tasks. These modules operate independently with defined interfaces, allowing the robot controller to function autonomously using stored target operations while the operation planner works in parallel, reducing inter-module dependencies and simplifying the overall control architecture
3Productivity
If the robot controller executes tasks based on stored target operations without real-time planner status, then the system achieves continuous cyclic operation, but the synchronization between planning and execution may be challenged
Solution Approach 1:
The robot controller continuously monitors its operational state and provides feedback to the operation planner. When the controller has completed executing stored target operations or detects changes in operational conditions, it signals the operation planner to generate new target operations. This feedback mechanism ensures synchronization between planning and execution phases while maintaining continuous cyclic operation
Data Source
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AI summary
A control system includes a robot controller, an operation planner, and at least one storage. The robot controller performs a process for controlling a robot operable based on a target operation. The operation planner generates the target operation for the robot based on a result of the process performed by the robot controller. The at least one storage stores an output from each of the robot controller and the operation planner. The robot controller starts performing the process cyclically without being based on a status of the operation planner generating the target operation.