Multi-Controller Robot Synchronization Using Position-Corrected Commands
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Solution Overview
Problem
Existing control systems face challenges in synchronizing operation timings between multi-axis robots and peripheral devices with different responsiveness, leading to shifts in operation timings due to differences in inertia and rigidity.
Innovation Solution
A control system comprising a third controller that outputs operation commands to both a first controller managing a multi-axis robot and a second controller managing a peripheral device, with a communication module and control processing module to correct operation commands based on the current position of the multi-axis robot, enabling switching between normal and synchronous control modes to synchronize operation timings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If separate control means are used for each robot axis, then control flexibility and independence are improved, but operation timing synchronization between axes with different responsiveness deteriorates
Solution Approach 1:
The patent introduces an intermediate coordinate system as a mediator between multiple robot controllers. This intermediate coordinate system receives position commands from the master controller, converts them to respective coordinate systems for each robot, and transmits corrected commands to slave controllers. This intermediary mechanism enables synchronized operation timing between axes with different responsiveness while preserving the benefits of separate control means.
2Loss of time
If position synchronous operation mode is implemented, then operation timing synchronization is improved, but control system complexity increases
Solution Approach 1:
The patent segments the control system into a master controller that manages synchronous operation mode switching and slave controllers that execute specific control tasks. Each slave controller operates independently with its own coordinate system conversion capabilities. This segmentation allows position synchronous operation mode to be implemented only where needed without complicating the entire control system.
Solution Approach 2:
The patent implements dynamic switching between normal operation mode and position synchronous operation mode based on operational requirements. The control system can adaptively change the operation mode for different task phases, enabling synchronization only when necessary and maintaining simple independent control during phases where synchronization is not required.
3Measurement precision
If operation mode switching is implemented, then synchronization accuracy is improved, but control processing time increases
Solution Approach 1:
The patent performs preliminary coordinate system conversion and operation mode determination in advance before executing motion commands. The master controller pre-calculates the appropriate operation mode and converts position commands to the intermediate coordinate system beforehand, reducing real-time processing requirements and minimizing delays during actual execution.
Data Source
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AI summary
The control system 1 includes a first controller 100, a second controller 200, and a third controller 300. The third controller 300 includes a first communication module 320, a second communication module 330, and a control processing module 340 configured to output a first operation command for operating the first controlled object to the first controller 100 via the first communication module 320, configured to output a second operation command for operating the second controlled object to the second controller 200 via the second communication module 330, configured to acquire information on a current position of the first controlled object from the first controller 100 via the first communication module 320, and configured to correct the second operation command on a basis of information on the current position of the first controlled object.