Robot Motion Control Using Cyclic Command Structures
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Solution Overview
Problem
Existing robot motion control methods sacrifice time efficiency by requiring a steady state transition during mode switching, while methods using scenario information lack flexibility in considering preceding and subsequent tasks.
Innovation Solution
A control method and device that utilize a cyclic structure to dynamically determine and execute operations, ensuring flexibility by changing the execution order of motion control modes while maintaining stability and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If motion control mode switching passes through a steady state to ensure stability, then the reliability of task execution is improved, but the time efficiency deteriorates due to prolonged transition time
Solution Approach 1:
The patent applies preliminary action by pre-planning and pre-processing motion control modes before execution. The system generates a command queue in advance based on scenario information, evaluating execution orders of multiple motion control modes beforehand. This allows the robot to transition between modes more efficiently without requiring prolonged steady state transitions, thus improving time efficiency while maintaining reliability through pre-validated execution sequences.
2Productivity
If scenario information is used to generate command queue without steady state transition to improve time efficiency, then the productivity is improved, but the flexibility deteriorates as execution order cannot be dynamically adjusted
Solution Approach 1:
The patent applies dynamics by making the command queue and execution order dynamic rather than static. The system evaluates and determines the execution order of motion control modes based on real-time situation analysis, allowing dynamic adjustment of the command queue. This enables the robot to adapt to changing environments and tasks while maintaining high productivity, as the execution sequence can be optimized and modified without requiring steady state transitions.
3Device complexity
If execution order of commands is determined only immediately before execution to simplify control, then the device complexity is reduced, but the adaptability deteriorates as preceding and subsequent tasks cannot be considered
Solution Approach 1:
The patent applies preliminary action by performing execution order evaluation and determination in advance before actual command execution. The system analyzes scenario information and pre-determines the optimal execution sequence of motion control modes, considering the relationships between preceding and subsequent tasks. This preliminary planning reduces runtime complexity while enhancing adaptability, as the robot executes pre-optimized commands that account for task sequences and environmental context.
Data Source
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AI summary
According to the present disclosure, there is provided a control method in which a control device executes processing of: acquiring a terminal element from a cyclic structure having rules for operations of a robot as elements; determining an operation to be executed based on the terminal element; executing the determined operation; acquiring an element next to the element corresponding to the determined operation from the cyclic structure; determining an operation to be executed based on the next element; and repeating the determination and the execution of the operations until there is no more element to be executed in the cyclic structure. As described above, motion control of the robot is performed using the cyclic structure having the rules for the operations of the robot as the elements, so that the control device can ensure flexibility for the motion control of the robot.