Central Graph Structure for Robot Parameter Management
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Solution Overview
Problem
Current methods for planning and controlling robot applications struggle with managing system and process parameters separately, making it difficult to optimize and adapt to changes in robot tools or additional robots, leading to inefficiencies in planning and control.
Innovation Solution
A central graph structure is used to manage all parameters, allowing for efficient storage, access, and assignment of values, ensuring consistency and adaptability, with parameters organized in clusters and customizable to specific applications, and allowing selective modification and protection of values based on user authorization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If system and process parameters are managed separately in different controllers and planning systems, then each component can be controlled independently, but the overall planning and control of the robot application becomes difficult and inefficient
Solution Approach 1:
The patent merges previously separate parameter management systems into a unified hierarchical parameter set that encompasses all system and process parameters across multiple controllers and planning systems. This consolidation allows centralized management while maintaining the functional independence of individual components, directly resolving the contradiction between ease of operation and device complexity.
Solution Approach 2:
The hierarchical parameter set serves multiple functions simultaneously: it acts as a configuration database for planning, a control parameter repository for execution, and an optimization target for performance tuning. This multi-functionality eliminates the need for separate management systems while enhancing operational efficiency across the entire robot application.
2Adaptability or versatility
If parameters are managed in a decentralized manner across multiple controllers, then each controller maintains autonomy, but optimization and adaptation to changes become difficult
Solution Approach 1:
By combining all parameters into a single hierarchical structure with defined ownership and scope levels, the system achieves centralized visibility and control. This enables easy adaptation to changes such as component replacements or process modifications, while the hierarchical organization prevents management complexity by clearly defining which controller is responsible for each parameter.
Solution Approach 2:
The parameter hierarchy dynamically adapts to system changes through automated parameter identification and ownership assignment. When new components are added or existing ones modified, the system automatically updates the hierarchical structure and redistributes parameter ownership, maintaining adaptability without increasing management complexity.
3Reliability
If all parameters are stored centrally, then consistency and accessibility are improved, but system complexity and data management burden increase
Solution Approach 1:
The parameter set is segmented into a hierarchical structure with multiple levels (application-level, system-level, component-level parameters), each with defined scope and ownership. This segmentation ensures consistency through centralized management while reducing data management complexity by organizing parameters into manageable groups with clear access rules and responsibility assignments.
4Manufacturing precision
If parameters are frequently updated to reflect current system state, then planning and control accuracy improve, but computational overhead and processing time increase
Solution Approach 1:
The system dynamically determines which parameters require updates based on the specific planning or control task. Not all parameters are processed with the same frequency or detail level - critical parameters are updated frequently for high accuracy, while less critical ones are updated less frequently, optimizing the balance between accuracy and processing time.
Solution Approach 2:
The hierarchical parameter structure enables selective parameter updates and optimizations. The system can modify individual parameters or parameter groups without requiring complete system re-evaluation, reducing computational overhead while maintaining the accuracy needed for precise planning and control.
Data Source
Figure 1~2
AI summary
The method involves storing parameter values, and planning and/or controlling of application based on stored parameter values. A parameter e.g. control parameter (R1) such as mass, is centrally administrated using a graph structure. The parameter and/or the graph structure is individually co-ordinated to application or application components e.g. transport devices. The relevant parameter is selected for planning and/or controlling of the application. The parameter values are stored, before modification. The parameter values are automatically adjusted, during modification of the components. Independent claims are also included for the following: (1) a device for planning and/or controlling robot application based on system-and/or process parameters (2) a computer program for planning and/or controlling robot application (3) a computer program product with program codes for planning or controlling of the robot application.