Real-time robotics control framework

Patent metadata

Field	Value
Publication number	US-12502773-B2
Application number	US-202117246082-A
Country	US
Kind code	B2
Filing date	Apr 30, 2021
Priority date	Apr 30, 2021
Publication date	Dec 23, 2025
Grant date	Dec 23, 2025

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

First claim

What is claimed is:

1 . A computer-implemented method comprising:
receiving, by a real-time robotics control framework, custom real-time control code to be executed by one or more real-time threads of a control layer in order to drive positions at each predetermined tick of a real-time control cycle, wherein the custom real-time control code defines functions comprising:
a custom get state function to read sensor inputs and to determine current values of one or more state variables from the sensor inputs, and
a custom control function that uses the obtained values of the one or more state variables to compute movement parameters in real-time;
performing compile-time check to determine that the custom get state function and the custom control function defined in the custom real-time control code involve no operation with nondeterministic timing; and after performing compile-time check, repeatedly executing, by the real-time robotics control framework, the custom real-time control code at each predetermined tick of a real-time robotics control cycle, including:
executing the custom get state function defined by the custom real-time control code in a first real-time thread to read sensor inputs and to determine the current values of the one or more state variables from the sensor inputs,
executing the custom control function defined by the custom real-time control code in a second real-time thread to compute one or more updated movement parameters, and
driving the real-time robotics system according to the updated movement parameters computed by executing the custom control function defined by the custom real-time control code.

2 . The method of claim 1 , wherein executing the custom control function comprises using updated sensor values at a current tick of the real-time robotics control cycle.

3 . The method of claim 1 , wherein the real-time robotics control framework is configured to automatically execute user-provided software modules as a state machine at each tick in the control cycle to implement custom real-time robotics control.

4 . The method of claim 3 , wherein the real-time robotics control framework is configured to automatically execute user-provided non-real-time software modules to prepare the real-time environment for real-time robotics control.

5 . The method of claim 1 , wherein the custom real-time control code further comprises a custom sensing function to obtain real-time sensor data,
and wherein executing the custom real-time control code further comprises:
executing the custom sensing function to obtain updated sensor values, and
wherein executing the custom control function comprises using the obtained updated sensor values.

6 . The method of claim 1 , further comprising:
receiving, by the real-time robotics control framework, custom non-real-time control code defining a custom prepare parameters function; and executing the custom non-real-time control code before executing the custom real-time control code.

7 . The method of claim 6 , wherein the real-time robotics control framework executes the non-real-time control code in a non-real-time thread and executes the custom real-time control code in a real-time thread of the real-time robotics control cycle.

8 . The method of claim 1 , wherein the operation with nondeterministic timing comprises an allocate memory operation or a network communication operation.

Assignees

• Intrinsic Innovation Llc

Inventors

• Gaschler Andre
• Prisament Gregory J
• Rowan Sean Alexander
• Berg Nils
• Beardsworth Michael
• Cox Nicholas Julian
• Bremer Benjamin

Classifications

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/40512

  Real time path planning, trajectory generation · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title