Robot Arm Encoder Timing Control Under Image Processing Load

Solution Overview

Problem

In robot systems, the execution of control programs with large loads can occupy resources, leading to delayed data acquisition from encoders, which results in inaccurate position information and deteriorated driving speed accuracy for robot arms, especially when image processing is performed concurrently.

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 accurate and timely acquisition of position information, even during resource occupation by image processing.

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 and accuracy of driving speed deteriorates

Engineering Contradiction:

Improveimage processing capabilityVSAvoidposition information accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The control device is divided into two independent control sections: a first control section dedicated to robot arm control and encoder communication, and a second control section dedicated to image processing. This segmentation allows each section to operate independently without resource conflicts, ensuring that image processing does not interfere with the timing-critical encoder position information requests.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The second control section acts as an intermediary that generates interrupt signals to trigger the first control section at precise timing intervals. This intermediary mechanism ensures that position information requests are sent at the correct timing regardless of image processing load, maintaining measurement precision while enabling versatile image processing capabilities.

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 acquisition of data from the memory is delayed

Engineering Contradiction:

Improvecontrol functionalityVSAvoiddata acquisition timing

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 encoder communication, and a second control section dedicated to image processing. This segmentation allows each section to operate independently without resource conflicts, ensuring that image processing does not interfere with the timing-critical encoder position information requests.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The second control section pre-generates interrupt signals at precise timing intervals before the first control section needs to request position information. This preliminary action ensures that timing-critical operations are triggered at the correct moments, preventing data acquisition delays even when the microprocessor is heavily loaded with control programs.

Inventive Principle:

Principle #10Preliminary action

3Productivity

If resources are occupied by image processing, then image processing performance is improved, but timing for requesting position information deviates from original timing

Engineering Contradiction:

Improveimage processing performanceVSAvoidtiming accuracy

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The control device is divided into two independent control sections: a first control section dedicated to robot arm control and encoder communication, and a second control section dedicated to image processing. This segmentation allows each section to operate independently without resource conflicts, ensuring that image processing does not interfere with the timing-critical encoder position information requests.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The second control section generates interrupt signals at regular periodic intervals independent of image processing operations. This periodic action ensures that position information requests are triggered at consistent, predictable timing intervals, maintaining timing accuracy and reliability regardless of variable image processing performance demands.

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS11759956B2Robot system and control method for robot system

Publication Date: 2023.09.19 SEIKO EPSON CORP

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.