Robotic Control Mode Switching for Real-Time Coordinate Transforms
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Real-time robotic control systems face challenges in efficiently switching between different coordinate transformation processes due to system overhead and constraints, leading to suboptimal performance and reliability, especially in applications requiring sub-millimeter precision.
Innovation Solution
A state machine-based approach that allows for real-time mode switching between multiple coordinate transformation processes, such as inverse kinematics and Cartesian impedance control, by continuously checking exit conditions and transitioning between nodes, enabling the use of the most appropriate process for each subtask within the system's real-time constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple different controllers implementing different coordinate transformations are used, then adaptability to different task portions is improved, but system overhead increases making real-time constraints incompatible
Solution Approach 1:
The patent segments the state machine into multiple subgraphs, where each subgraph is associated with a different coordinate transformation process. This allows the system to divide the control task into manageable segments, each handled by a specialized transformation process, thereby achieving adaptability without requiring a complete overhaul of the control architecture.
Solution Approach 2:
The patent implements dynamic switching between different coordinate transformation processes by allowing the system to transition between subgraphs based on exit conditions. This dynamic adaptation enables the system to select the most appropriate transformation process for each task portion in real-time, maintaining both adaptability and real-time performance.
2Device complexity
If a single coordinate transformation process is used throughout the entire task, then system simplicity is maintained, but performance becomes suboptimal for certain subtasks
Solution Approach 1:
The patent creates a universal state machine framework that can accommodate multiple coordinate transformation processes within a single unified architecture. This multi-functional approach allows the system to maintain overall simplicity while enabling specialized transformation processes to be invoked when needed for specific subtasks.
Solution Approach 2:
The state machine acts as an intermediary layer between the high-level task specification and the low-level coordinate transformation processes. It mediates the selection and switching between different transformation processes based on task requirements, thereby improving performance for specific subtasks without complicating the overall system architecture.
3Manufacturing precision
If inverse kinematics transformations are used for sub-millimeter precision applications, then positioning accuracy is improved, but convergence speed decreases and reliability is reduced
Solution Approach 1:
The patent changes the transformation parameters by selecting different coordinate transformation processes based on the task context. For sub-millimeter precision applications, the system can switch to inverse kinematics transformations when appropriate, while using alternative transformations for other portions of the task, thereby optimizing both accuracy and reliability.
Solution Approach 2:
The system dynamically adjusts the transformation approach by monitoring task progress and switching between different coordinate transformation processes. This dynamic adaptation allows the system to use inverse kinematics for high-precision positioning when needed, while switching to more reliable transformations for other tasks, thereby optimizing both accuracy and convergence reliability.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.