Programmable Switch Control for Low-Latency Robotic Arm Actuators
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Solution Overview
Problem
Conventional methods for controlling robotic arms face challenges in real-time velocity control due to high latency and complexity, especially when relying on cloud-based servers and wireless connections, which can lead to unsafe or undesirable situations.
Innovation Solution
A packet forwarding circuit, such as a programmable switch or router, is disposed between a control server and one or more actuators to perform real-time velocity control, reducing latency by processing trajectory and status information to generate command messages for the actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If cloud-based control servers are used to control robotic arms over wireless connections, then flexibility and reconfiguration capability are improved, but latency and reliability deteriorate
Solution Approach 1:
The patent segments the control function into two parts: high-level trajectory planning remains on the cloud-based control server, while real-time velocity control is segmented and executed locally at the robotic arm controller. This segmentation allows the system to maintain flexibility from cloud connectivity while achieving low-latency real-time control responses.
Solution Approach 2:
The patent implements preliminary action by pre-calculating trajectory information on the cloud server and transmitting it to the robotic arm controller in advance. The local controller then uses this pre-computed trajectory data to generate real-time velocity commands without needing to wait for cloud server responses during execution, thereby reducing latency.
2Measurement precision
If real-time velocity control is performed by the control server, then control accuracy is improved, but latency increases
Solution Approach 1:
The patent introduces the robotic arm controller as an intermediary device between the cloud-based control server and the actuators. This intermediary receives trajectory information from the server and performs real-time velocity control calculations locally, maintaining control accuracy while eliminating the latency associated with round-trip communications for every control cycle.
3Loss of time
If additional controllers are deployed close to robotic arms to reduce latency, then response time is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the robotic arm controller multi-functional by enabling it to perform both trajectory execution and real-time velocity control functions. This universality eliminates the need for separate dedicated real-time controllers, reducing device complexity and cost while maintaining improved response time.
4Adaptability or versatility
If control functions are moved to cloud servers, then flexibility is improved, but safety and reliability deteriorate
Solution Approach 1:
The patent implements feedback mechanisms where the robotic arm controller continuously monitors actuator status and trajectory tracking performance in real-time. This local feedback loop ensures safety and reliability by detecting and responding to anomalies immediately, independent of cloud server availability or wireless connection quality.
Data Source
AI summary
A packet forwarding circuit (18), such as a programmable switch or router, for example, is disposed between a control server (14) and one or more actuators (17) associated with a robotic arm (16), for example. The packet forwarding circuit is configured to perform real-time velocity control of the one or more actuators in addition to other functionalities that it normally performs, such as routing, packet forwarding, and firewall protection.