Robot Motion Control with Pre-Queued Trajectories

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Solution Overview

Problem

Conventional robot control systems experience slowdowns due to the time-consuming process of calculating and transmitting movement commands, which affects processing speed and efficiency in robot control applications.

Innovation Solution

A robot control system comprising a host controller and a robot controller that pre-calculates trajectories for target positions, storing them in separate queues to enable immediate execution when a signal changes, thereby reducing deceleration and enhancing processing speed.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If the robot controller calculates and transmits movement commands in real-time, then the control accuracy is maintained, but the processing speed decreases causing slowdowns

Engineering Contradiction:

Improveprocessing speedVSAvoidtime for calculating and transmitting commands

Core Design Contradiction:

SpeedVSLoss of time

Solution Approach 1:

The host controller pre-calculates movement commands and stores them in a command queue before they are needed. When a signal changes, the robot controller can immediately retrieve and execute pre-calculated commands without waiting for real-time calculation, thus improving processing speed while maintaining control accuracy.

Inventive Principle:

Principle #10Preliminary action

2Productivity

If the robot waits for command transmission before moving, then the control precision is ensured, but the response time increases reducing efficiency

Engineering Contradiction:

Improveprocessing efficiencyVSAvoidresponse time

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

Movement commands are pre-calculated and queued in advance by the host controller. When the robot controller receives a signal change, it can immediately execute the next pre-calculated command from the queue without waiting for calculation, thereby reducing response time and improving productivity while ensuring control precision through pre-validated commands.

Inventive Principle:

Principle #10Preliminary action

3Manufacturing precision

If the robot decelerates and accelerates frequently during movement, then the positioning accuracy is improved, but the power consumption increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidpower consumption

Core Design Contradiction:

Manufacturing precisionVSUse of energy by moving object

Solution Approach 1:

The host controller pre-calculates optimal movement trajectories and commands that minimize unnecessary deceleration and acceleration. By planning movement paths in advance and transmitting them as pre-calculated commands, the robot can maintain smoother motion with fewer speed changes, thereby improving positioning accuracy while reducing power consumption.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentEP4049808A1Robot control system, robot controller, and robot control method

Publication Date: 2022.08.31 YASKAWA DENKI KK

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AI summary

[Problem to be solved] To improve a processing speed in robot control. [Solution] A robot control system (1) includes: a robot controller (20) that can control a robot (30); and a host controller (10) that can communicate with the robot controller. The host controller (10) includes: an execution part (101) that executes a control program; and a transmission part (102) that transmits a command according to an execution result of the control program to the robot controller. The robot controller (20) includes: a reception part (201) that receives the command from the host controller (10); and a pre-execution part (203) that executes pre-processing according to the command.