Robot Trajectory Pre-Processing for Immediate Motion Execution
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Solution Overview
Problem
Conventional robot control methods experience delays in processing and movement due to the time required for calculating and transmitting trajectory commands, leading to potential slowdowns in robot operation.
Innovation Solution
Implementing a robot control system with a host controller and robot controller that pre-processes and pre-calculates trajectories, using queues or tree structure data to store and manage commands, allowing immediate execution when conditions change, thereby reducing processing time and maintaining robot speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If trajectory commands are calculated and transmitted in real-time, then control accuracy is maintained, but processing delays occur causing robot slowdowns
Solution Approach 1:
The robot controller pre-calculates trajectory commands for multiple future positions and stores them in a command queue before they are needed. This allows the controller to prepare commands in advance during idle periods, so when the robot needs to move, pre-calculated commands are already available, eliminating real-time calculation delays and maintaining high operation speed without sacrificing control accuracy.
2Productivity
If pre-processing is executed for all branch destinations, then processing speed improves, but device complexity increases
Solution Approach 1:
The system executes pre-processing for multiple branch destinations simultaneously and stores all resulting commands in a queue, even though not all commands will be executed. This partial over-processing ensures that when a branch condition is met, the corresponding command is already prepared and can be executed immediately without delay, significantly improving processing efficiency while the added complexity is managed through systematic queue management.
Data Source
AI summary
A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.