Challenges in High Performance Robotics Systems
summary
Designed toy robot runs a 2 ms policy loop over a CAN bus carrying ten 100-bit messages; at 1 Mbps that yields ~1 ms of transmission time, explaining the observed 1 ms gaps and actuator stutter. External transceiver plus candump timestamps reveal missed, queued, and jittered frames that cause double commands or stale inputs. Fixes include multithreading and pipelining, kernel sync primitives or simple padding, moving logging off the main core (30 ms SD freeze on Raspberry Pi), and correcting priority inversion to avoid multi-second dropouts.
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chapters (10)
- 0:00Introduction to robotics challenges
- 1:25Building a toy robot architecture
- 2:26CAN bus communication delays
- 4:32Multi-threading and pipelining
- 6:19Diagnosing CAN bus jitter
- 8:05Synchronization pitfalls
- 9:31Logging impact on performance
- 10:32Microcontroller logging issues
- 11:15Priority inversion in kernels
- 11:57Recap and high performance design
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