Robot Controller Matching Using Hardware IDs and Individual Parameters
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Solution Overview
Problem
Existing robot systems face challenges in efficiently replacing and connecting robot controllers with robot main bodies of the same or different models, due to individual differences and varying structural information, which complicates accurate control and flexibility in operation.
Innovation Solution
A robot system is designed with a robot controller that includes a storage part for hardware identifiers, individual discrimination data, and device-specific data, allowing for the creation of hardware definition information to facilitate control of robot main bodies and attachments, enabling easy replacement and connection of robot controllers across similar mechanisms, even if they are of different models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot controllers are prepared for each model with individual difference data stored, then control accuracy for each robot main body is improved, but device complexity and data storage requirements increase
Solution Approach 1:
The system performs preliminary actions by automatically measuring and storing individual difference data (such as encoder offset values) in the robot main body's storage unit during assembly or initial setup. This pre-stored data is then automatically retrieved and applied when a robot controller is connected, eliminating the need for manual readjustment and enabling accurate control without preparing separate controllers for each model.
2Measurement precision
If robot controllers are prepared for each model, then control accuracy is improved, but ease of operation for replacing controllers deteriorates
Solution Approach 1:
The system enables self-service by automatically detecting the connected robot main body's model and retrieving the corresponding individual difference data from its storage unit. The robot controller automatically applies this data to itself, eliminating the need for manual operator intervention to readjust parameters when replacing controllers. This allows operators to simply connect the controller without performing any additional setup operations.
3Measurement precision
If individual difference data are stored in robot controller, then control accuracy for same model robots is improved, but adaptability to different models deteriorates
Solution Approach 1:
The system uses copying by storing individual difference data directly in the robot main body's storage unit rather than in the robot controller. When a controller is connected, it automatically reads and copies the necessary data from the robot main body's storage unit. This allows the same robot controller to be used with different robot main bodies of the same model, as each main body provides its own customized data, thereby improving both control accuracy and adaptability.
4Ease of operation
If robot main bodies of different models are controlled by the same controller, then ease of operation is improved, but measurement precision deteriorates
Solution Approach 1:
The system performs preliminary action by having each robot main body pre-store its own individual difference data (such as encoder offset values specific to its manufacturing variations) in its storage unit. When a robot controller connects to any robot main body of the same model, it automatically retrieves the specific data from that main body's storage unit before operation begins. This ensures that each robot main body receives customized control parameters tailored to its individual characteristics, maintaining high control accuracy while allowing the same controller to be used across different models.
Data Source
AI summary
A robot system includes a robot controller and an object robot including a first storage part storing a hardware identifier, individual discrimination data, and device specific data including an individual difference parameter. The same hardware identifier is assigned to the object robot having the same mechanism. The robot controller includes a second storage part storing common configuration information corresponding to the hardware identifier and the individual discrimination data and the individual difference parameter of the object robot, and a control part configured, in a case that the hardware identifier corresponding to the common configuration information stored in the second storage part and the hardware identifier assigned to the object robot are collated and matched with each other, to create hardware definition information of the object robot based on the common configuration information stored in the second storage part and the individual difference parameter read from the first storage part.