Robot Controller Parallel Call Timing for Accurate Motion Processing
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Solution Overview
Problem
Current robot controllers face challenges in executing motion and logic commands sequentially, leading to potential delays and inaccuracies in processing, especially when logic commands take long to execute, affecting the quality of tasks like painting where precise timing and positioning are critical.
Innovation Solution
A robot controller with a motion command interpretation unit, a parallel call command detection unit, and a parallel call command execution unit that allows for the execution of motion and logic commands in parallel, enabling high accuracy in time and distance through the use of parallel call commands that can be triggered at designated timings or positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If motion commands and logic commands are executed sequentially, then the robot controller structure is simple, but the processing time increases and accuracy decreases
Solution Approach 1:
The patent segments the command execution into multiple parallel threads: a motion command execution thread and a logic command execution thread. This allows simultaneous processing of motion commands and logic commands, eliminating the sequential execution bottleneck while maintaining a relatively simple controller architecture through modular thread management.
Solution Approach 2:
The patent implements pre-reading and buffering of logic commands before motion execution. The logic command buffer stores pending logic commands, allowing the system to prepare and queue logic operations in advance, so they can be executed concurrently with motion commands without waiting for sequential completion.
2Speed
If logic commands are executed during acceleration/deceleration, then motion speed can be kept constant, but next motion command start is delayed
Solution Approach 1:
The patent separates motion command execution and logic command execution into independent parallel threads. This segmentation allows logic commands to be processed concurrently with motion commands during acceleration and deceleration phases, preventing delays in subsequent motion commands while maintaining constant motion speed through proper thread scheduling.
3Manufacturing precision
If detailed processing is performed in split steps during robot motion, then processing accuracy improves, but sequential execution causes timing errors
Solution Approach 1:
The patent segments detailed processing operations into separate logic commands that can be executed in parallel with motion commands. Each processing step (e.g., compressed air discharge, voltage application, valve opening) is implemented as an independent logic command in a buffer, allowing simultaneous execution with robot motion to maintain both accuracy and timing synchronization.
Solution Approach 2:
The patent implements pre-reading and buffering of logic commands at designated positions in the motion program. This allows detailed processing commands to be prepared and queued in advance, ensuring they are executed at the correct timing relative to robot motion without sequential delays, thereby maintaining both processing accuracy and timing precision.
Data Source
AI summary
To execute processing with high accuracy in terms of time and distance via a simple method. A robot controller comprises a motion command interpretation unit that interprets a motion command program describing a taught motion and a taught position of a robot and generates a motion command; a motion command execution unit that executes the motion command; a parallel call command detection unit that pre-reads the motion command program and detects a line where a parallel call command is taught; and a parallel call command execution unit that calls and executes a program designated by a parallel call command at a designated timing.