Robot Joint Servo Scheduling for Simultaneous Motion Commands
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Solution Overview
Problem
Conventional robots with serial joint control lack flexibility and responsiveness, as they execute commands sequentially and do not prioritize actions, leading to inadequate responses in emergent situations and limited limb movement.
Innovation Solution
A method for controlling robot joints that involves receiving motion commands, determining necessary joint servos, and executing commands using unoccupied servos, with a priority-based command queue to optimize joint operation and improve flexibility by allowing simultaneous execution of non-conflicting actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If serial control method is used for robot joints, then control simplicity is maintained, but robot flexibility and responsiveness deteriorate
Solution Approach 1:
The patent segments the serial control process by introducing a command queue that divides commands into multiple executable units. Each command in the queue can be independently evaluated and executed based on joint availability, transforming a monolithic serial execution into modular, flexible segments that can be dynamically managed.
Solution Approach 2:
The patent introduces dynamic adaptability by allowing the robot control system to evaluate joint occupancy status in real-time and dynamically adjust command execution. The system transitions from rigid sequential execution to flexible dynamic execution where commands can be postponed, executed, or prioritized based on current joint availability and command importance.
2Device complexity
If serial control method is used for robot joints, then control system simplicity is maintained, but response time to emergent situations worsens
Solution Approach 1:
The patent applies preliminary action by pre-queuing multiple commands before execution is needed. The command queue storeså¾…-execution commands in advance, allowing the system to quickly retrieve and execute appropriate commands when emergent situations arise, rather than processing commands one-at-a-time in real-time.
Solution Approach 2:
The patent implements feedback mechanisms where the control system continuously monitors joint occupancy status and command queue state. This feedback enables the system to make real-time decisions about command execution, prioritizing urgent commands and adjusting execution based on current robot state, thereby reducing response time to emergent situations.
3Reliability
If all joint servos must be unoccupied to execute a command, then conflict avoidance is achieved, but action execution efficiency deteriorates
Solution Approach 1:
The patent changes the execution parameter from binary (execute/don't execute) to multi-state (execute immediately, postpone, or prioritize). By introducing command priority levels and queue management, the system can execute commands based on their importance rather than strictly waiting for joint availability, thereby improving execution efficiency while maintaining reliability through priority-based conflict resolution.
Data Source
AI summary
A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.