Adaptive Robotic Motion Control for Actuator Lag Synchronization
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Solution Overview
Problem
Robotic motion control systems face challenges in accurately planning and executing trajectories due to the need to predict actuator capabilities and avoid unachievable paths, which can result in actuators moving out of sync and potential collisions or failures in maintaining intended constraints.
Innovation Solution
The system monitors actuator progress in real-time and adjusts the execution of the planned path to adhere to the planned path without strictly adhering to planned times, detecting lag and reducing speed to achievable levels to maintain the trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the system executes the planned trajectory at high speeds close to actuator limits, then productivity is improved, but reliability deteriorates due to risk of collisions and actuators moving out of sync
Solution Approach 1:
The system continuously monitors the actual pose of each actuator during trajectory execution and compares it with the desired pose from the trajectory plan. This real-time feedback enables the system to detect when an actuator is lagging behind and adjust the trajectory execution speed accordingly, allowing high-speed operation while maintaining safety through continuous monitoring and adaptive adjustment.
2Manufacturing precision
If the system strictly adheres to planned trajectory times, then manufacturing precision is improved, but adaptability deteriorates when actuators cannot achieve the planned speeds
Solution Approach 1:
The system dynamically adjusts the trajectory execution by modifying the desired pose timing based on actual actuator performance. Instead of rigidly following the original trajectory timeline, the system adapts the execution speed in real-time to match actual actuator capabilities, maintaining trajectory accuracy while accommodating variations in actuator performance.
Solution Approach 2:
The system changes the temporal parameters of the trajectory execution by adjusting the desired pose timestamps based on detected actuator lag. This parameter adjustment allows the trajectory to be executed with modified timing that accommodates actual actuator capabilities while still achieving the intended path and final position accuracy.
3Reliability
If the system reduces speed to achievable levels to maintain safety, then reliability is improved, but productivity deteriorates due to slower trajectory execution
Solution Approach 1:
The system applies partial speed reduction only when and where needed based on actual actuator performance. Instead of uniformly reducing speed across the entire trajectory, the system selectively adjusts the execution speed for specific trajectory segments where actuators are lagging, maintaining high speeds in regions where actuators can keep up, thus preserving productivity while ensuring safety where required.
Data Source
AI summary
In one embodiment, a method includes by a robotic system: accessing a trajectory plan to be executed by the robotic system, where the trajectory plan includes desired poses at specified times, respectively, for each actuator of the robotic system, executing the trajectory plan for each actuator of the robotic system; monitoring, in real-time for each actuator during execution of the trajectory plan, an actual pose of the respective actuator, determining, based on the monitoring of the actuators, that one or more of the actuators is lagging, where the actual pose of each lagging actuator deviates from the desired pose by more than an error threshold, and adjusting, in real-time responsive to determining that one or more of the actuators is lagging, one or more of the desired poses at one or more specified times, respectively, of the trajectory plan.