Sensor Relay Control Device for Robot Feedback Synchronization
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Solution Overview
Problem
Existing methods for robot control devices to incorporate feedback data from external sensors, such as force sensors, face challenges in maintaining prediction accuracy and processing load, leading to unreliable correction data and potential interference with robot control operations.
Innovation Solution
A sensor relay control device that converts and synchronizes sensor data with the robot's control cycle, eliminating the need for synchronization within the robot control device, thereby reducing processing load and ensuring reliable feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot control device performs all sequential processes of processing input information from the force sensor and generating correction data, then prediction accuracy can be increased, but the processing load increases which may interfere with robot control
Solution Approach 1:
The system divides the processing functions into two segments: the force sensor processing unit handles sensor data acquisition, preprocessing, and correction data generation, while the robot control device handles robot control operations. This segmentation allows prediction accuracy to be maintained through dedicated sensor processing while preventing processing load from interfering with robot control.
Solution Approach 2:
The force sensor processing unit acts as an intermediary between the force sensor and the robot control device. It receives raw sensor data, processes it to generate correction data, and outputs the processed information to the robot control device, thereby reducing the processing burden on the robot control device while maintaining prediction accuracy.
2Reliability
If the robot control device performs synchronization process for input information from the force sensor, then reliability of correction data can be improved, but processing load increases which may interfere with robot control
Solution Approach 1:
The synchronization function is segmented and assigned to the force sensor processing unit rather than the robot control device. This allows reliable synchronized correction data to be generated without increasing the processing load on the robot control device.
Solution Approach 2:
The force sensor processing unit serves as an intermediary that handles the synchronization of sensor data with the robot control cycle. By performing synchronization in this intermediate stage, the robot control device receives already-synchronized correction data, improving reliability without adding processing burden.
3Adaptability or versatility
If communication between the personal computer and robot control device is performed, then sensor data processing capability is enhanced, but synchronization issues arise leading to predictive factors that reduce correction data reliability
Solution Approach 1:
The force sensor processing unit acts as an intermediary between the external sensor system and the robot control device, performing synchronization of sensor data with the robot control cycle. This eliminates communication synchronization issues while maintaining enhanced sensor data processing capability.
Solution Approach 2:
The force sensor processing unit autonomously handles the synchronization of sensor data with the robot control cycle without requiring external coordination. This self-service approach eliminates predictive factors and ensures reliable correction data while maintaining versatile sensor processing capabilities.
Data Source
AI summary
A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.