Robot Controller Segmentation for Trajectory Control Delay
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Solution Overview
Problem
Integrated control systems for work robots often experience delays in trajectory control and servo control due to shared memory and system bus occupancy by CPUs other than those allocated for these functions, leading to reduced productivity.
Innovation Solution
A robot controller with separate processing units, each with its own control unit, storage unit, and system bus, allowing for dedicated allocation of program execution, trajectory generation, and motor control functions, thereby preventing delays and maintaining a consistent control period.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a shared memory and system bus are used in an integrated control system with multiple CPUs, then device complexity is reduced and integration is improved, but trajectory control and servo control may be delayed due to occupancy by other CPUs
Solution Approach 1:
The control system is segmented into multiple independent processing units, each with its own control unit, storage unit, and system bus. This segmentation allows trajectory control and servo control to be performed in dedicated processing units without being delayed by other CPU operations, while still maintaining an integrated system architecture through coordinated communication between units.
2Device complexity
If multiple CPUs share the same memory and system bus, then system integration is improved, but productivity drops due to control delays
Solution Approach 1:
The system is divided into multiple processing units with dedicated resources. Each processing unit handles specific control functions independently, ensuring that trajectory control and servo control operations are not delayed by other CPU tasks, thereby maintaining high productivity while achieving system integration through coordinated operation of the segmented units.
3Loss of time
If dedicated processing units with separate buses are used for trajectory control and servo control, then control timing accuracy is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into multiple processing units, each with dedicated control units, storage units, and system buses. This segmentation ensures that critical control functions like trajectory control and servo control have guaranteed access to resources, eliminating timing delays and ensuring accurate control execution, while the modular architecture manages complexity through standardized unit designs.
Data Source
AI summary
A robot controller controlling a robot arm driven by a motor is provided. The robot controller includes: a first processing unit having a first control unit, a first storage unit, and a first system bus that couples the first control unit and the first storage unit together, the first processing unit acquiring target position information designated in a program causing the robot arm to operate; and a second processing unit having a second control unit, a second storage unit, and a second system bus that couples the second control unit and the second storage unit together, the second processing unit receiving the target position information from the first processing unit and generating a trajectory of the robot arm, based on the target position information.