In-Network Control of Actuators for Robotic Arms

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 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;
• and
• sending the command message to the actuator.

A packet forwarding circuit disposed between a control server and one or more actuators, the packet forwarding circuit comprising:

• communications circuitry configured to communicate with both the control server and the one or more actuators;
• and
• processing circuitry operatively connected to the communications circuitry and configured to:
• receive, from the control server, trajectory information for controlling an actuator, wherein the trajectory information defines a sequence target points along a trajectory to be followed by the actuator;
• receive, from the actuator, a status message comprising status information about the actuator;
• generate a command message to control the actuator based on the status information and the received trajectory information;
• and
• send the command message to the actuator.

A non-transitory computer-readable medium storing a computer program thereon, the computer program comprising instructions that, when executed by processing circuitry of a packet forwarding circuit disposed between a control server and one or more actuators, causes the packet forwarding circuit to:

• receive, from the control server, trajectory information for controlling an actuator, wherein the trajectory information defines a sequence target points along a trajectory to be followed by the actuator;
• receive, from the actuator, a status message comprising status information about the actuator;
• generate a command message to control the actuator based on the status information and the received trajectory information;
• and
• send the command message to the actuator.