Robot Tracking Control With Adaptive Sensor Memory Management
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Solution Overview
Problem
In robot welding operations, memory capacity issues arise due to displacement of target positions caused by heat strain, leading to welding defects, and existing solutions complicate manual adjustments to prevent memory overflow.
Innovation Solution
A robot control apparatus with a storage unit, memory management unit, and control unit that automatically deletes or reduces sensing data when memory is full, allowing for efficient accumulation and tracking operations without manual intervention, prioritizing data with higher reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If information according to sensing result is accumulated in memory at high frequency, then tracking precision is improved, but memory capacity is insufficient
Solution Approach 1:
The system dynamically changes the accumulation interval parameter of sensing information based on memory usage status. When memory is sufficient, information is accumulated at high frequency for precise tracking. When memory becomes insufficient, the accumulation interval is automatically increased, reducing the data rate to prevent overflow while maintaining essential tracking functionality.
Solution Approach 2:
The memory management system operates dynamically by continuously monitoring memory usage and adjusting the information accumulation rate in real-time. This dynamic adjustment allows the system to adapt between high-precision tracking mode (when memory is abundant) and memory conservation mode (when memory is constrained), optimizing both tracking precision and memory utilization throughout the operation.
2Quantity of substance
If accumulation interval is adjusted manually to prevent memory overflow, then memory capacity is sufficient, but device complexity increases
Solution Approach 1:
The memory management unit automatically monitors memory usage and adjusts the information accumulation interval without requiring manual intervention. The system serves itself by detecting memory status and autonomously optimizing the accumulation rate, eliminating the need for complex manual adjustment mechanisms while ensuring memory capacity is always sufficient.
Solution Approach 2:
The system implements a feedback loop where the memory management unit continuously monitors memory usage status and uses this feedback to automatically adjust the accumulation interval. When memory usage approaches capacity, the feedback triggers an increase in the accumulation interval, preventing overflow. This closed-loop control simplifies the system by replacing complex manual adjustments with automatic feedback-based regulation.
3Ease of operation
If information is accumulated without adjustment, then ease of operation is improved, but memory overflow occurs
Solution Approach 1:
The system maintains ease of operation by requiring no manual configuration from the user. The memory management unit automatically handles memory monitoring and accumulation interval adjustment, allowing the system to operate simply while preventing memory overflow through self-regulation.
Solution Approach 2:
The memory management unit performs preliminary monitoring of memory usage status and proactively adjusts the accumulation interval before memory overflow occurs. This preliminary action prevents the harmful effect of memory overflow while maintaining the simplicity of automatic operation, as the system anticipates and prevents problems before they arise.
Data Source
AI summary
A memory in which information that is used in a tracking operation is to be temporarily stored, information cannot be accumulated in the memory when the accumulating intervals and the reading intervals do not match each other. A robot control apparatus includes: a memory; an accepting unit that accepts a sensing result of a laser sensor detecting a shape of a working target before an, and accumulates information according to the sensing result, in the memory. The memory management unit that, in a case in which the memory is running short of free space, deletes the information in the memory; and a control unit that moves the working tool based on teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.