Real-Time Robot Trajectory Switching Under Control-Tick Constraints
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Solution Overview
Problem
Existing real-time software control systems for physical machines, such as industrial robots, struggle with flexibility in trajectory planning due to strict timing requirements, often leading to fault states when deviations occur, limiting their ability to adapt to changing conditions in real-time.
Innovation Solution
A unified real-time robotic control framework that allows for user-defined switching between different trajectories based on custom criteria, incorporating sensor feedback and pre-planned paths, enabling seamless transitions without waiting for higher-level instructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single planned trajectory is followed to meet strict timing requirements, then the system maintains reliability and avoids fault states, but the system loses flexibility and adaptability to changing conditions
Solution Approach 1:
The patent implements dynamic trajectory switching by allowing the robot to transition from a pre-planned trajectory to a feedback-controlled trajectory in real-time based on switching criteria. This enables the system to adapt to changing conditions while maintaining real-time control, resolving the contradiction between following a fixed trajectory for reliability and needing flexibility for adaptability.
Solution Approach 2:
The system changes the control parameter from a single fixed trajectory to multiple switchable trajectories. By defining switching criteria that monitor system state and external conditions, the controller can dynamically select between trajectories, transforming the rigid single-trajectory approach into a flexible multi-trajectory system that maintains reliability through structured decision-making.
2Manufacturing precision
If closed software modules are used for highly-specialized tasks, then the system achieves precise timing control, but the system complexity increases and reusability decreases
Solution Approach 1:
The patent creates a universal real-time control framework that can handle multiple specialized tasks through a common architecture. The framework provides reusable components for trajectory management, switching criteria evaluation, and feedback control that can be applied across different robot applications, reducing software complexity and improving reusability while maintaining precise timing control.
Solution Approach 2:
The control system is segmented into modular functional blocks: trajectory generation, switching criteria evaluation, real-time controller, and feedback processing. This segmentation allows each module to be independently developed, tested, and reused, reducing overall software complexity while maintaining the precise timing requirements through dedicated real-time control modules.
3Device complexity
If the robot waits for higher-level instructions for trajectory changes, then the control architecture remains simple, but the cycle time increases and productivity decreases
Solution Approach 1:
The system performs preliminary actions by pre-defining multiple trajectories and switching criteria before execution. The real-time controller continuously evaluates switching criteria and can autonomously switch between trajectories without waiting for higher-level instructions, reducing cycle time while maintaining manageable architecture complexity through pre-planned transition conditions.
Solution Approach 2:
The robot controller performs self-service by autonomously monitoring switching criteria and selecting appropriate trajectories based on current system state and sensor feedback. This self decision-making capability eliminates the need for constant higher-level intervention, reducing cycle time and improving productivity while keeping the control architecture simple through rule-based autonomous control.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for switching in real-time between different trajectories during custom real-time control. One of the methods include: obtaining a definition of a first trajectory for a robot and a definition of a second trajectory for the robot; executing a current action for controlling the robot to follow set points of the first trajectory at each control tick of the real-time robotic control system, including, at each control tick of the real-time robotic control system: obtaining current data representing a latest execution status of the current action; evaluating one or more switching criteria associated with the current action according to the current data; and whenever the one or more switching criteria are satisfied during the control tick, switching to executing another action for controlling the robot to follow the second trajectory within the control tick.