Robot Control Device Timing Synchronization via Reference Signal
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Solution Overview
Problem
Existing robot coordinated control systems face challenges in accurately synchronizing the operation basic period signals across multiple robot control devices, leading to deviations in timing that hinder precise coordinated operation of robots controlled by different devices.
Innovation Solution
A method and system where a reference signal is transmitted among robot control devices to synchronize the timing of operation basic period signal generation, accounting for the time interval from signal generation to transmission and communication delay, ensuring all devices generate signals in sync.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If each robot control device independently generates operation basic period signals, then each device can operate autonomously, but timing deviation occurs between different robot control devices
Solution Approach 1:
The patent implements a feedback mechanism where robot control devices exchange timing information about their operation basic period signals through communication means. Each device measures the timing of its own signal generation and receives timing information from other devices, then adjusts its signal generation timing based on this feedback to achieve synchronization while maintaining autonomous operation.
Solution Approach 2:
The patent uses timing information copying where each robot control device receives and copies the operation basic period signal timing data from other devices through communication means. This copied timing information is then used to synchronize signal generation across devices without requiring centralized control.
2Reliability
If the time interval from receiving operation instruction to actual robot operation is adjusted to coordinate robot operations, then robot coordination can be achieved, but control becomes complicated
Solution Approach 1:
The patent replaces complex mechanical timing adjustment mechanisms with electronic communication and software-based timing synchronization. Instead of physically adjusting time intervals in control circuits, the system uses digital communication to exchange timing information and software algorithms to calculate and apply synchronization corrections, simplifying the control system architecture.
Data Source
AI summary
A reference signal is transmitted from one of a plurality of robot control devices connected by communication connecting device to the other robot control device. The timing of generation of an operation basic period signal in each of the other robot control devices is synchronized with the timing of generation of an operation basic period signal in the one of the plurality of robot control devices, based on a time interval from generation of the operation basic period signal until transmission of the reference signal in the one of the plurality of robot control devices, a time interval from generation of the operation basic period signal until reception of the reference signal in each of the other robot control devices, and a communication delay time required for communication between the one of the plurality of robot control devices and each of the other robot control devices.