US 12,325,133 B2
In-network control of actuators for robotic arms
Csaba Györgyi, Nyiregyhaza (HU); Gergely Pongrácz, Budapest (HU); Geza Szabo, Kecskemet (HU); and Sándor Laki, Budapest (HU)
Assigned to TELEFONAKTIEBOLAGET LM ERICSSON (PUBL), Stockholm (SE)
Appl. No. 17/926,364
Filed by Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
PCT Filed May 27, 2020, PCT No. PCT/IB2020/055048
§ 371(c)(1), (2) Date Nov. 18, 2022,
PCT Pub. No. WO2021/240219, PCT Pub. Date Dec. 2, 2021.
Prior Publication US 2023/0321829 A1, Oct. 12, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/161 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method, implemented by a packet forwarding circuit disposed between a control server and an actuator, for controlling the actuator, the method comprising:
receiving, from the control server, trajectory information for controlling the actuator, wherein the trajectory information defines a sequence of target points along a trajectory to be followed by the actuator;
receiving, from the actuator, a status message comprising status information about the actuator;
generating a command message to control the actuator based on the status information and the received trajectory information, wherein the status message comprises a status message header and the command message a command message header, and wherein generating the command message comprises converting the status message by:
removing the status message header from the status message;
modifying a destination address of the status message to be an address of the actuator;
adding the command message header to the command message; and
initializing the command message header; and
sending the command message to the actuator.