Hierarchical Robot Motion Control for Accurate Linear and Angular Moves
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Solution Overview
Problem
Existing programmable rovers and robots face challenges in intuitive movement control, particularly in educational and entertainment settings, where users find it burdensome to program complex commands and path planning, and there is a need for simplified, user-friendly movement control mechanisms.
Innovation Solution
A hierarchical control system is employed, comprising a high-level controller that determines movement type and corrects deviations based on movement commands, using a combination of PPI and PID controllers to manage motor signals, with a trajectory generator providing real-time adjustments to ensure accurate device movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a hierarchical control system with PPI and PID controllers is used, then movement control accuracy is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into two distinct hierarchical levels: a high-level controller (PPI) that determines movement type and destination, and a low-level controller (PID) that corrects deviations during movement. This segmentation allows each controller to specialize in specific control tasks, improving overall accuracy while maintaining manageable complexity through functional separation.
Solution Approach 2:
The high-level PPI controller acts as an intermediary between the user's movement command and the low-level PID controller. It translates high-level movement intentions into intermediate control signals that the PID controller can process, creating a bridge that improves control accuracy without exposing the full complexity of the PID algorithm to the user.
2Measurement precision
If complex path planning commands are required, then movement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The high-level PPI controller performs preliminary actions by pre-determining the movement type (linear or angular) and calculating the destination based on simple user inputs (start position, end position, time). This preliminary processing eliminates the need for users to program complex path planning sequences, while the system internally prepares the necessary control parameters for accurate execution.
Solution Approach 2:
The control system provides self-service by automatically generating the complex control sequences needed for accurate movement. Once the user specifies basic parameters (start, end, time), the hierarchical controller automatically computes the optimal path, determines movement type, and generates the appropriate control signals, eliminating the burden of manual path planning while maintaining high precision.
3Measurement precision
If deviation correction is continuously applied, then movement accuracy is improved, but use of energy increases
Solution Approach 1:
The low-level PID controller implements feedback by continuously monitoring the device's actual movement and comparing it with the intended trajectory. When deviations are detected, the PID controller automatically adjusts control signals to correct the path. This feedback mechanism maintains high accuracy while minimizing energy consumption by only applying corrections when and where needed, rather than continuous full-power control.
Data Source
AI summary
Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.