Wireless Robot Control With Adaptive Degrees of Freedom
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Solution Overview
Problem
Current technologies face challenges in effectively controlling modular robotic devices over wireless networks due to resource limitations, particularly in 5G networks, which are essential for industrial applications requiring high flexibility, low energy consumption, and real-time communication, especially in scenarios where precise control is needed.
Innovation Solution
A method and entity that modify control commands to reduce the number of degrees of freedom addressed based on available wireless network resources, using a trajectory modification entity to determine the load of the network and generate modified control commands that conserve radio resources while maintaining acceptable trajectory accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If control commands for all degrees of freedom are transmitted over wireless network, then robot control precision is maintained, but wireless network resource consumption increases
Solution Approach 1:
The control commands are segmented based on the robot's trajectory phases. During low-precision phases (e.g., movement between positions), only essential control data is transmitted. During high-precision phases (e.g., assembly operations), full control commands for all degrees of freedom are transmitted. This segmentation allows the system to maintain precision when needed while reducing wireless resource consumption during less critical phases.
Solution Approach 2:
The system dynamically adjusts the level of control detail transmitted over the wireless network based on real-time trajectory requirements. The control entity determines whether full-precision control or reduced control is sufficient for the current robot state, enabling adaptive resource allocation that balances precision requirements with network resource conservation.
2Reliability
If wireless network load is high, then resource availability decreases, but maintaining full control precision requires constant high-bandwidth transmission
Solution Approach 1:
The system changes the parameter of control command detail based on network conditions and trajectory requirements. When network load is high, the system transitions to transmitting reduced control commands with fewer degrees of freedom. When network conditions improve and precision is required, the system transitions to full-precision control transmission. This parameter adaptation ensures reliable operation while maintaining productivity.
3Loss of energy
If reduced control commands are used to save wireless resources, then radio resource consumption decreases, but trajectory accuracy may deteriorate
Solution Approach 1:
The system applies partial control by transmitting commands for only the necessary subset of degrees of freedom at any given time. Rather than always transmitting full control commands, the system determines the minimum necessary control input required for the current trajectory phase, transmitting only that partial control set. This reduces radio resource consumption while maintaining sufficient trajectory accuracy through selective control.
Data Source
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AI summary
The invention relates to a method for controlling a robotic device (50) with modified control commands transmitted over a wireless network, wherein the robotic device (50) comprises a plurality of joints (53), wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity (100): - determining a load of the wireless network (30), - receiving a plurality of control commands controlling a planned trajectory of the robotic device (50) from a robotic control entity (70), each of the control commands configured to control one degree of freedom of a first number of degrees of freedom addressed by the plurality of control commands, - determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, - determining the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom not higher than the reduced number of degrees of freedom, - transmitting the modified control commands instead of the received plurality of control commands to the robotic device (50).