Robot Arm Encoder Timing Control with Independent Interrupts

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Solution Overview

Problem

In robot systems, the execution of control programs with large loads can occupy resources, leading to delayed data acquisition from encoders and inaccurate position information, which affects the accuracy of robot arm driving and speed control.

Innovation Solution

A robot system with a first control section for executing control processing and a second control section that independently transmits position information request signals and interrupt signals to the encoders, allowing for timely and accurate acquisition of position information, even during resource occupation by other processing tasks.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If image processing is performed in the control device, then image processing capability is improved, but timing for requesting position information from the encoder deviates from original timing

Engineering Contradiction:

Improveimage processing capabilityVSAvoidtiming accuracy for position information request

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The control device is divided into two independent control sections: a first control section dedicated to robot arm control and a second control section dedicated to encoder communication and interrupt signal generation. This segmentation allows image processing in the first section without affecting the timing-critical operations in the second section.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The second control section acts as an intermediary between the encoders and the first control section. It generates interrupt signals at precise timing and transmits position information requests to encoders, ensuring that timing accuracy is maintained even when the first control section is occupied with image processing.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If control program with large load is executed in the microprocessor, then control functionality is improved, but data acquisition from memory is delayed

Engineering Contradiction:

Improvecontrol processing capabilityVSAvoiddata acquisition time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If resources are occupied by image processing, then image processing is enabled, but accuracy of position information acquisition is deteriorated

Engineering Contradiction:

Improveimage processing capabilityVSAvoidposition information accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Inventive Principle:

Principle #24Intermediary (Mediator)

4Device complexity

If single control section is used, then device complexity is reduced, but timing accuracy for position information request is compromised

Engineering Contradiction:

Improvecontrol section structureVSAvoidtiming accuracy

Core Design Contradiction:

Device complexityVSLoss of time

Solution Approach 1:

Inventive Principle:

Principle #1Segmentation

Data Source

PatentEP3835003A1Robot system and control method for robot system

Publication Date: 2021.06.16 SEIKO EPSON CORP

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AI summary

A robot system includes a robot arm, encoders configured to acquire position information of the robot arm, a first control section configured to execute control processing for controlling operation of the robot arm, and a second control section provided independently from the first control section and configured to transmit a position information request signal for requesting the position information to the encoders. The second control section transmits an interrupt signal to the first control section according to the transmission of the position information request signal. The first control section executes the control processing based on the interrupt signal and the position information output from the encoders based on the position information request signal.