Wireless Robot Trajectory Control Under Network Load Constraints
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Solution Overview
Problem
Current technologies face challenges in effectively controlling modular robotic devices over wireless networks due to resource limitations in wireless spectrum and high energy consumption, particularly in industrial applications requiring high flexibility and real-time communication, which affects the repeatability and accuracy of robotic tasks.
Innovation Solution
A trajectory modification entity that determines the load of the wireless network and modifies control commands to reduce the number of degrees of freedom addressed, optimizing radio resource usage by transmitting only necessary commands, thereby adapting to available network resources while maintaining 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 trajectory accuracy is maintained, but radio resource consumption increases
Solution Approach 1:
The patent segments the control commands by degree of freedom, transmitting only those commands corresponding to actively controlled degrees of freedom. The trajectory modification entity identifies and transmits a subset of control commands for specific degrees of freedom rather than all degrees of freedom, thereby reducing radio resource consumption while maintaining accuracy for the controlled dimensions.
Solution Approach 2:
The patent applies partial action by transmitting only the necessary subset of control commands required for the current task rather than all possible control commands. The system determines which degrees of freedom need active control and transmits commands only for those, avoiding unnecessary transmission overhead while maintaining sufficient trajectory accuracy.
2Productivity
If wireless network load is high, then resource allocation becomes constrained, but reducing control commands degrades trajectory control
Solution Approach 1:
The patent implements dynamic adaptation by adjusting the number of controlled degrees of freedom based on real-time wireless network load conditions. The trajectory modification entity monitors network load and dynamically modifies which degrees of freedom receive control commands, increasing control when resources are abundant and reducing it when resources are constrained, thereby balancing productivity and reliability.
Solution Approach 2:
The patent changes the parameter of controlled degrees of freedom based on network load conditions. When network load is high, the system reduces the number of degrees of freedom with active control commands; when load is low, it increases them. This parameter adjustment allows the system to adapt to varying network conditions while maintaining optimal trajectory control.
3Adaptability or versatility
If modular robotic device is remotely controlled via wireless access, then cabling is reduced and flexibility increases, but energy consumption and control reliability challenges arise
Solution Approach 1:
The patent extracts and removes unnecessary control commands from the wireless transmission stream. By identifying and eliminating commands for degrees of freedom that do not require active control, the system reduces the overall data transmission volume, thereby reducing radio resource consumption and energy usage while maintaining essential control capabilities.
Solution Approach 2:
The trajectory modification entity on the robotic device performs self-service by autonomously determining which degrees of freedom require control commands based on current task requirements and network conditions. This self-determination eliminates the need for centralized decision-making about command transmission, reducing communication overhead and energy consumption while maintaining system flexibility.
Data Source
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).