Robotic End Effector Control With Onboard Sensing and Low Latency
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Solution Overview
Problem
Traditional industrial robotic systems operate with slow signal sampling and require long, error-prone cable runs for sensor wiring, limiting their dynamic control and responsiveness to environmental conditions.
Innovation Solution
An articulated arm system with onboard electronics, sensors, and actuators that allows for high-frequency environmental observation and direct control of the robot, enabling rapid response to changes without relying on the main controller's response time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional top-down control architecture is used with centralized controller, then all control logic is in one place, but signal sampling is slow and cables are long and error-prone
Solution Approach 1:
The patent segments the control system by distributing intelligence from a centralized controller to individual end effectors. Each end effector becomes an independent control node with its own processor, eliminating the need for slow centralized polling and enabling parallel autonomous operation of multiple end effectors.
Solution Approach 2:
The patent introduces a new control dimension by implementing wireless communication between end effectors and the central controller. This eliminates the physical cable dimension, reducing errors and enabling more flexible system configuration while maintaining real-time communication capabilities.
2Reliability
If traditional wired sensor connection is used, then all sensors must be wired to control cabinet, but this leads to long cable runs and increased error probability
Solution Approach 1:
The patent replaces the mechanical cable connection system with wireless communication technology. End effectors transmit sensor data and receive control commands wirelessly, eliminating physical cable runs entirely and associated problems with cable damage, interference, and installation complexity.
3Adaptability or versatility
If end effector has no knowledge of the world, then control logic is simple, but responsiveness to environmental conditions is limited
Solution Approach 1:
The patent implements self-service by equipping end effectors with autonomous decision-making capabilities. Each end effector processes sensor data locally and makes independent control decisions based on its environmental perception, eliminating the need for constant centralized control and enabling rapid local responses.
Solution Approach 2:
The patent implements local feedback loops at each end effector, where sensor data from the environment is immediately processed and used to adjust end effector actions in real-time. This local feedback mechanism enables rapid adaptation to environmental changes without waiting for centralized controller responses.
Data Source
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AI summary
An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.