Robot Controller System with Main and Sub-Controllers
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Solution Overview
Problem
Conventional robot controller systems require multiple sub-controllers with CPUs and memory, leading to increased size, cost, and complexity, as well as the need for specialized controllers for different robot types, which complicates expansion and changes in robot functions.
Innovation Solution
A robot controller system with a main controller that computes target drive amounts for actuators and generates control data, which is then used by sub-controllers to drive actuators, eliminating the need for arithmetic circuits and memory in sub-controllers and allowing for a common controller to handle different robot types.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If sub-controllers are equipped with CPUs and memory to compute control commands, then control functionality is improved, but device size and cost increase
Solution Approach 1:
The patent extracts the computational functions (CPU and memory) from the sub-controllers and relocates them to the main controller. The sub-controllers retain only the essential actuator driver functions, while the main controller performs all sequential computations for multiple actuators. This extraction eliminates the need for redundant computational components in sub-controllers, reducing device size while maintaining full control functionality.
Solution Approach 2:
The patent merges the computational responsibilities of multiple sub-controllers into a single main controller. Instead of each sub-controller having its own CPU and memory, the main controller consolidates all computational tasks, including sequential computation of control commands for multiple actuators. This merging reduces overall system complexity and size while preserving automation capabilities.
2Manufacturing precision
If specialized robot controllers are prepared for each robot type, then control precision is improved, but device complexity and production cost increase
Solution Approach 1:
The patent creates a universal main controller that can control different types of robots through a standardized interface. The main controller sequentially computes control commands for multiple actuators regardless of the specific robot configuration. By making the main controller multi-functional and capable of handling various actuator combinations, the system achieves control precision for different robot types without requiring specialized controllers for each configuration.
Solution Approach 2:
The patent segments the control system into a universal main controller and specialized actuator drivers. The main controller handles high-level sequential computation and command generation, while individual actuator drivers handle device-specific implementation details. This segmentation allows the main controller to remain generic and adaptable to different robot types, while precision control is maintained through the specialized driver layer.
3Productivity
If multiple sub-controllers are used to control multiple actuators, then productivity is improved, but device complexity increases
Solution Approach 1:
The patent merges the computational functions of multiple sub-controllers into a single main controller that sequentially processes control commands for multiple actuators. The main controller integrates the roles of what would otherwise be separate computational units, reducing the number of discrete components while maintaining the ability to control multiple actuators simultaneously, thus improving productivity without increasing complexity.
Solution Approach 2:
The patent implements periodic sequential computation in the main controller, where control commands for multiple actuators are computed in a systematic sequence. This periodic processing approach allows the single main controller to handle multiple actuators efficiently, achieving the productivity of multiple parallel controllers while using a single unified control unit, thereby reducing device complexity.
Data Source
AI summary
A robot controller system includes a robot including a first actuator and a second actuator, a main controller for driving the first actuator, and a sub-controller for driving the second actuator. In the main controller, an actuator controller generates first control data for the first actuator and second control data for the second actuator, a first actuator driver generates a first drive signal based on the first control data, and a first input/output unit provides the sub-controller with the second control data. In the sub-controller, a second actuator driver generates a second drive signal based on the second control data provided via a second input/output unit from the first input/output unit. The main controller receives the second drive signal via the second input/output unit and the first input/output unit from the second actuator driver and provides the second actuator with the second drive signal.