Industrial Robot Control Using Deterministic Path Planning
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Solution Overview
Problem
Conventional methods for controlling industrial robot movement are non-deterministic due to processor loading, leading to variable speed profiles, geometric path dependence on computing power, and safety issues with unpredictable stopping times, resulting in suboptimal speed and potential collisions.
Innovation Solution
A method involving a temporary memory to interpret and assemble instructions into segments with keywords, preventing endless loops and sensor-guided instructions, allowing deterministic path planning and higher speeds by ensuring complete planning of path elements before execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional control methods are used with pre-run buffer and interpreter planning, then the robot can execute movement instructions, but the movement speed becomes non-deterministic and variable due to processor loading
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing complete path elements (including all intermediate points and velocity profiles) in a buffer before execution. The interpreter generates full path elements with deterministic velocity profiles in advance, eliminating runtime calculation variability. This ensures that the robot executes pre-planned deterministic speed profiles rather than calculating speeds during motion, directly resolving the non-deterministic speed issue.
Solution Approach 2:
The patent segments the movement path into discrete path elements, each with predetermined velocity profiles and geometric data. By dividing the continuous path into segmented instructions with fixed velocity characteristics, the system transforms the continuous non-deterministic control into discrete deterministic segments. Each segment is independently planned with specific velocity constraints, ensuring predictable and consistent speed execution.
2Productivity
If the robot moves at higher speeds to improve productivity, then output increases, but safety intervals must be enlarged to prevent collisions
Solution Approach 1:
The patent replaces the mechanical safety approach (enlarging physical safety intervals and stopping distances) with a computational approach (deterministic velocity profiles and exact stop positioning). Instead of adding physical buffers, the system uses precisely calculated velocity curves that guarantee exact stops at programmed points. This substitution allows high-speed operation without increasing physical safety margins, thereby maintaining productivity while eliminating collision risks through deterministic control.
Solution Approach 2:
The patent changes the control parameter from variable speed profiles (dependent on processor load) to deterministic velocity profiles (fixed and pre-calculated). By transforming the speed parameter from a variable to a fixed deterministic value, the system enables higher speeds with predictable stopping behavior. The velocity profile becomes a predetermined parameter rather than a dynamically adjusted value, allowing high-speed operation with guaranteed safety.
3Manufacturing precision
If the path geometry is adjusted to optimize movement, then process quality improves, but the path becomes dependent on computing power and processor loading
Solution Approach 1:
The patent applies preliminary action by pre-calculating complete path elements with all geometric and velocity data before execution. The interpreter generates full path descriptions including intermediate points and velocity profiles in advance, storing them in a buffer. This pre-computation decouples the path geometry from runtime processor loading, ensuring that the same deterministic path is executed regardless of computing power variations during operation.
4Reliability
If deterministic path planning is implemented to ensure safety, then collision prevention improves, but the system complexity increases
Solution Approach 1:
The patent segments the control system into distinct functional modules: an interpreter that generates path elements, a buffer that stores them, and an executor that runs them. Each segment has a specific deterministic function. The path is divided into discrete elements with predetermined velocity profiles. This segmentation organizes the complexity into manageable, well-defined components rather than a monolithic complex system.
Data Source
AI summary
The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.