CN110914020B - Handling device with robot, method and computer program - Google Patents
Handling device with robot, method and computer program Download PDFInfo
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- CN110914020B CN110914020B CN201880051203.XA CN201880051203A CN110914020B CN 110914020 B CN110914020 B CN 110914020B CN 201880051203 A CN201880051203 A CN 201880051203A CN 110914020 B CN110914020 B CN 110914020B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39083—Robot interference, between two robot arms
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40463—Shortest distance in time, or metric, time optimal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40476—Collision, planning for collision free path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40477—Plan path independent from obstacles, then correction for obstacles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Robots with multiple arms are increasingly used in industrial production. An actuating device is proposed, which comprises: having a robot (2), wherein the robot (2) has a plurality of movement chains (4 a, 4 b), wherein each movement chain (4 a, 4 b) is movable in a working space, wherein at least two of the working spaces have an overlap, wherein each movement chain (4 a, 4 b) is configured for performing a work movement, having a control module for actuating the movement chains (4 a, 4 b) for performing a total movement, wherein the total movement can be generated by the work movement of the movement chains (4 a, 4 b), wherein the control module is configured for performing a work movement in a trajectory function (q 1 、q 2 ) The kinematic chain is controlled on the basis of the above, and is used for implementing the working motion; comprising a trajectory determination module and a re-parameterization module, wherein the trajectory determination module is designed to determine, for each working movement of the kinematic chain (4 a, 4 b), a trajectory function (q 1 、q 2 ) Is a minimum time trace (q) 1 (τ 1 )、q 2 (τ 2 ) Wherein the re-parameterization module is configured to determine a time-based on the minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ) Trajectory function (q) 1 、q 2 ) The re-parameterization is performed such that the total motion is collision free.
Description
Technical Field
A manipulator is proposed, which has a robot, wherein the robot has a plurality of kinematic chains, wherein each of the kinematic chains is movable in a working space, wherein at least two of the working spaces have an overlap, wherein each of the kinematic chains is configured for performing a work motion; the control module is used for controlling the kinematic chain and for implementing total movement, wherein the total movement can be represented by acting movement of the kinematic chain. Furthermore, a method and a computer program for operating a robot are proposed.
Background
The use of robots in process automation and in particular in industrial manufacturing is known from the prior art.
Document DE 10 2013 014 287 Al, which may constitute the latest prior art, describes a method for joining precision mechanical components by laser welding, said method having the following steps: gripping the first member from the first magazine area with a first gripper provided on the first robot arm; gripping a second component from a second magazine area with a second gripper arranged on a second robot arm in order to hold the first component with the first gripper; and holding the second members in the first assembly position relative to each other and to the laser device with a second gripper; activating the laser device and connecting the first and second components to each other in the first assembly position by means of a first welded connection for assembly; the assembly is placed in a storage area by means of a first gripper.
Disclosure of Invention
A handling device with a robot is proposed, which has the features of claim 1. Furthermore, a method for operating a robot, in particular a robot of a handling device, having the features of claim 11 and a computer program having the features of claim 12 are proposed. Further advantages and effects result from the dependent claims of the following description.
An operating device with a robot is proposed. In particular, the actuating device is a device of industrial automation technology. The handling device is, for example, a robot work site, a manufacturing site and/or an assembly site. The robot is preferably configured to perform an assembly step and/or a manufacturing step. In particular, the robot is a single arm robot, a double arm robot or a multiple arm robot. Further, the robot can be an articulated arm robot. In particular, the robot is configured as a multi-axis robot. In particular, the handling device can have a plurality of robots.
The robot has a plurality of kinematic chains. In particular the robot has exactly two or more kinematic chains. In particular, the robot can have more than five and/or more than ten kinematic chains. Preferably the robot has an end effector at the end of the kinematic chain. Each of the kinematic chains is capable of movement in a workspace. In particular, the end effector is movable in a working space. The working space is in particular a three-dimensional space. Preferably, each point of the workspace is reachable through a kinematic chain and/or through an end effector. At least two of the workspaces have an overlap. The overlap can completely comprise one and/or two workspaces.
The kinematic chain is configured to perform a work motion. The working movement is used, for example, to carry out production and/or assembly steps. The working movement can be, for example, the approach of a point and/or a coordinate with the end effector.
The handling device and/or the robot have a control module for handling the kinematic chain. In particular, the control module is designed to independently actuate the kinematic chain. The manipulation of the kinematic chain is used in particular for carrying out work movements. The total movement can be represented by the work movement of the kinematic chain. In particular, the total movement is a result of a sequential execution and/or a combined result of the work movements of the kinematic chain. The total movement can be a synchronous movement of the kinematic chain, for example a lifting of a double arm or an assembly without equipment. Alternatively, the total movement is an asynchronous movement of the kinematic chain, for example, the sequential gripping of different workpieces with different kinematic chains.
The control module is configured to manipulate the kinematic chain based on the trajectory function to perform the work motion. The trajectory function is in particular a vector value function. For example, a kinematic chain includes a number n of movable joints, where the trajectory function to which it pertains is a vector having n entries, where each entry describes the angular position of the joint to which it pertains. Furthermore, the trajectory function can also include, in addition to the angular position, an adjustment speed and an adjustment acceleration of the joint. The control module is preferably configured to serve as a target value generator for the kinematic chain and/or the joint in discrete form.
The manipulating device includes a trajectory determination module and a re-parameterization module. In particular, the trajectory determination module and the re-parameterization module can be part of the control module. The control module, the trajectory determination module and/or the re-parameterization module are for example computer units, processors or microchips.
The trajectory determination module is configured to determine a minimum temporal trajectory as a function of the trajectory for each of the working motions of the robot and/or for each of the working motions of the kinematic chain, respectively. In particular, the trajectory determination module is configured to: a minimum time trajectory is determined for each of the kinematic chains of the robot without depending on the other kinematic chains of the robot.
The re-parameterization module is configured to re-parameterize the trajectory function based on a minimum time trajectory. In particular, the reparameterized trajectory function is designed to cause the kinematic chain to perform a working movement such that the overall movement is collision-free. Preferably, the control module is configured to control the kinematic chain on the basis of a re-parameterized trajectory function.
The invention is based on the consideration that: an automated handling device is provided with a robot that can perform its tasks without collision. The advantage over the prior art is, for example, that symbolic planning can be used at a higher level of abstraction. Furthermore, error-prone and time-consuming manual coordination of the kinematic chain can be eliminated. By the use of the control module, the planned movement and/or process of the robot is guaranteed to be collision-free. A particular advantage is that the inherently asynchronous movements do not have to be synchronized manually in advance.
In one possible embodiment of the invention, it is provided that the kinematic chain, the kinematic chains and/or all kinematic chains are each configured as a robot arm and/or a manipulator. The robotic arm is configured to perform a mechanical task. For example, manipulation tasks, such as welding, segmentation or other manufacturing methods, can be performed by means of the robotic arm. In particular, the robot arm is designed to perform positioning tasks and/or measuring tasks. For example, the robotic arm includes a gripper as an end effector. Preferably the robot arm comprises a plurality of rotational and/or thrust axes for performing the work motion.
It is particularly preferred that the minimum time trajectory is a trajectory function that requires a minimum time to perform the work motion. In particular, the minimum time path is a path function which, for a given path, is re-parameterized by a function taking into account kinetic (kinematisch) constraints of the robot and/or of the kinematic chain, in such a way that overall a minimum execution duration for the working movement results.
Optionally, provision is made for the trajectory determination module to be configured for: the minimum time trajectory is determined on the basis of a limited maximum acceleration and/or a limited maximum speed of one of the kinematic chain and/or the joints. In particular, a limited adjustment speed and/or a limited adjustment acceleration of the kinematic chain and/or the joint is understood to be a kinetic limitation.
In one possible embodiment of the invention, the re-parameterization module is configured to re-parameterize the total movement with a global time profile. In particular, it is provided here that for robots having a number x of kinematic chains, the global time curve is a curve in x-dimensional space, in particular in R x Is a curve in (a). The global time curve can be described in particular by means of a point element (Punktetupel), wherein each entry in this point element corresponds to a time on the minimum time trajectory of the kinematic chainAnd (5) engraving. In this case, the point elements in particular assign the points and/or positions to one another on different minimum time paths.
In a particularly preferred embodiment of the invention, it is provided that the minimum time path is described by the path determination module by means of the respective inherent times. In particular, the inherent time extends from a start time to an end time, wherein the inherent time determines where the kinematic chain is located on a minimum time trajectory between the start time and the end time.
The re-parameterization module includes a checking function. The checking function has a minimum time trace as a function argument. The checking function assigns as output, in particular, "collision of the moving chain" or "collision-free nature of the moving chain" on the basis of the function arguments. For example, the checking function outputs a value a as a function value in the event of a collision of the moving chain, wherein a is, for example, 1, and wherein the checking function outputs a value b as a function value in the event of a collision of the moving chain, wherein b is, for example, 0. The re-parameterization module is configured to divide the subspace into a collision space and an effective space. The subspace is stretched by the inherent time of the kinematic chain. For example, the robot has a number x of kinematic chains, wherein the subspace is an x-dimensional subspace. The re-parameterization module is configured in particular for: points in the subspace are assigned to the collision space if a collision of a kinematic chain has been detected and/or the checking function outputs a value a.
Furthermore, the re-parameterization module is configured in particular for: points in the subspace are assigned to the effective space if no collision of the kinematic chain is detected and/or the checking function outputs a value b. The re-parameterization module is preferably configured to determine a curve in the active space as a global time curve. In particular, the global time profile has no points in the collision space.
Optionally, it is provided that the total movement starts at a start point and ends at an end point. The starting point is preferably a point in the workspace, wherein a time coordinate can be assigned to the starting point in the subspace. The time coordinates of the starting points in the subspace correspond in particular to the zero point of the minimum time trajectory of the motion chain in the subspace. The endpoint is preferably a point in the workspace, wherein a time coordinate can be assigned to the endpoint in the subspace. The time coordinates of the end points in the subspace correspond in particular to the end points of the minimum time trajectory of the motion chain in the subspace. The re-parameterization module is configured to: the shortest connection between the time coordinates of the start point and the end point is determined as a global time curve.
Alternatively and/or additionally, provision is made for the fastest connection between the time coordinates of the starting point and the time coordinates of the end point to be determined by the reparameterization module as a global time curve.
It is particularly preferred that the control module is configured to: the re-parameterized minimum time trajectory is scaled by means of inverse kinematics in order to handle the robot. In particular, the robot or the control mechanism of the robot is based entirely on inverse kinematics.
A particularly preferred embodiment of the invention provides that the total movement comprises asynchronous working movements of at least two movement chains. The asynchronous work motion is for example the sequential gripping of workpieces with two different robot arms and/or motion chains.
A method for handling a robot forms another subject of the invention. In particular, the method is configured for maneuvering a robot with a handling device according to any of the preceding claims. The method provides for determining a minimum time trajectory for each motion chain of the robot. The minimum time path is particularly configured to describe the work motion of the kinematic chain. According to the method, the trajectory function based on the minimum time trajectory is re-parameterized in such a way that the total movement of the kinematic chain is collision-free.
A computer program with program code segments for carrying out the method as described above when the computer program is executed on a computer or a control device forms another subject matter of the invention.
Drawings
Other features, advantages and effects of the present invention will be apparent from the following description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings. Here:
fig. 1 shows an operating device as a first embodiment;
FIG. 2 illustrates one embodiment of a subspace;
FIG. 3 shows a subspace having a collision space and an effective space;
FIG. 4 illustrates a subspace with a global time curve;
fig. 5 shows a subspace with a global time curve and a delineated trajectory function.
Detailed Description
Fig. 1 shows a handling device 1 with a robot 2 as an embodiment of the invention. The handling device 1 is the installation site for the production facility. The robot 2 is designed for machining and/or assembling objects 3, for example workpieces. Here, the robot 2 can grasp, transport, and process the object 3.
The robot 2 has a first kinematic chain 4a and a second kinematic chain 4b. The first and second kinematic chains 4a, 4b are each configured as a robot arm. The first kinematic chain 4a has a plurality of joints 5a and the second kinematic chain 4b has a plurality of joints 5b. The angular position of the joints 5a and 5b is variable, so that the kinematic chain can be moved in the working space by means of the joints 5a and 5b, respectively. In particular, the joints 5a and 5b can be actuated for movement with a controlled speed and a controlled acceleration, wherein the joints 5a and 5b have a maximum speed and a maximum acceleration. On the free ends of the kinematic chains 4a and 4b, end effectors 6a, 6b are arranged, respectively, wherein the end effectors 6a and 6b are each configured as a gripper for gripping the workpiece 3.
The kinematic chains 4a and 4b are able to move in a working space. The end effector 6a can follow a movement path s from a starting point by means of a movement chain 4a 1 (t) moving to an endpoint. The end effector 6b can follow a movement path s from a starting point by means of a movement chain 4b 2 (t) moving to an endpoint.
The manipulator 1 comprises a control module for manipulating the kinematic chains 4a and 4b in order to use the end-effectors 6a and 6b with respect to the path s 1 (t) and s 2 (t) traveling. Here, at the locus function q 1 On the basis of which the kinematic chain 4a is steered, wherein the trajectory function q is 2 On the basis of which the kinematic chain 4b is operated. The trajectory function q 1 And q 2 Are each a function of the vector values, which have as many entries as the number of joints 6a, 6b that the kinematic chains 4a, 4b have. For example, the first kinematic chain 4a has three joints, the associated trajectory function q 1 For example, can pass q 1 （φ 1 、φ 2 、φ 3 ) To describe, wherein phi 1 、φ 2 、φ 3 Each being the angular position of one of the joints. Furthermore, it is possible that the trajectory function comprises an adjustment speed and an adjustment acceleration of the joint and can be described, for example, as 。
The handling device 1 comprises means for determining a minimum time trajectory q for the kinematic chains 4a and 4b, respectively 1 And q 2 Trajectory determination module of (a). The minimum time trajectories are trajectory functions for generating the movements of the kinematic chains 4a and 4b, respectively, which require the shortest time to perform the movements. To implement the minimum time trace q 1 The kinematic chain 4a takes time T 1 . To implement the minimum time trace q 2 The kinematic chain 4a takes time T 2 . The parameters parameterizing the minimum time trace are the intrinsic time τ, respectively 1 、τ 2 Wherein the minimum time trajectory q 1 For example toTo derive and the minimum time trace is q 2 (τ 2 ) 。
The operating device 1 comprises a re-parameterization module, wherein the re-parameterization module uses a global time profile t R Thus pair upMinimum time trace q 1 And q 2 The reparameterization is performed such that the total movement of the kinematic chains 4a and 4b is collision-free. The control module is in particular designed to control the kinematic chains 4a and 4b for carrying out the working movement on the basis and/or by means of a re-parameterized minimum time trajectory. The control module uses the re-parameterized minimum time trajectory as a trajectory function. In the following figures it is shown how the re-parameterization module re-parameterizes the minimum time trajectory so that the total motion is collision free.
FIG. 2 shows the time period T inherent in the process 1 And τ 2 A propped-open subspace 7. The subspace of this figure is an example of a subspace for the manipulator 1 of fig. 1. Intrinsic time τ 1 And τ 2 In particular forms the basis for an orthonormal of the subspace 7. The intrinsic time τ of the kinematic chain 4a 1 Form an abscissa in which the intrinsic time τ of the kinematic chain 4b 2 Forming the ordinate. Graphically illustrating the minimum time trajectory q below the abscissa 1 （τ 1 ) Time-varying curves of (2). The minimum time trajectory q is graphically shown to the left of the ordinate 2 （τ 2 ) Time-varying curves of (2). Also, the time coordinate τ is given in the subspace S And τ E In which the time coordinate τ S Corresponding to the intrinsic time of the start of the total movement, and the time coordinate τ E Then the inherent time corresponds to the end of the total movement.
Fig. 3 shows a diagram in which the subspace 7 of fig. 2 has been divided into an effective space 8 and a collision space 9 by means of a re-parameterization module. To this end, the parameterization module comprises a checking function c. The checking function c has a minimum time trace q as an argument 1 （τ 1 ) And q 2 （τ 2 ) Thereby c (q 1 （τ 1 ），q 2 （τ 2 )). The checking function c is constructed for checking, the kinematic chains 4a and 4b for a given minimum time trajectory q 1 （τ 1 ) And q 2 （τ 2 ) Whether there is a collision. For the following cases, namelyThe checking function determines, for a given minimum time trajectory q 1 （τ 1 ) And q 2 （τ 2 ) At a specific time (τ 1 、τ 2 ) There is no collision, the associated point (τ) in the subspace 7 1 、τ 2 ) Calculated as effective space 8. For the case that the checking function determines, for a given minimum time trajectory q 1 （τ 1 ) And q 2 （τ 2 ) At a specific time (τ 1 、τ 2 ) If there is a collision, the associated point (τ) in the subspace 7 1 、τ 2 ) Calculated as collision space 9. The re-parameterization module is configured to determine, for all time instants (τ 1 、τ 2 ) Such a check for collision and/or collision-free performance is carried out.
Fig. 4 shows the subspace 7 of fig. 3 with the global time curve t determined by the re-parameterization module R . The global time curve t R The time coordinates of the start point and the time coordinates of the end point are connected. The global time curve t R Here represents the shortest connection between these two points, but with the following conditions: the global time curve t R Only in the active space 8 and not through the collision space 9. The global time curve t R Can be at t R =（τ 1,R 、τ 2,R ) Is shown as a parameterized curve.
FIG. 5 shows how the control module is at a global time curve t R On the basis of which the kinematic chains 4a, 4b are manipulated to perform the overall task of collision-free. Here, according to the minimum time trace q 1 （τ 1 ) And q 2 （τ 2 ) To steer the kinematic chains 4a and 4a in such a way that τ is only steered in combination 1 And τ 2 For the combination mode (τ 1 τ 2 ）=t R =（τ 1,R 、τ 2,R ）。
Claims (12)
1. An operating device: has a robot (2),
wherein the robot (2) has a plurality of kinematic chains (4 a, 4 b), wherein each of the kinematic chains (4 a, 4 b) is movable in a working space, wherein at least two of the working spaces have an overlap,
wherein each kinematic chain (4 a, 4 b) is designed to perform a work movement,
having a control module for actuating the kinematic chain (4 a, 4 b) for carrying out a total movement, wherein the total movement can be represented by a working movement of the kinematic chain (4 a, 4 b),
wherein the control module is configured to control the trajectory function (q 1 、q 2 ) On the basis of which the kinematic chain is operated for carrying out the working movement,
characterized by a trajectory determination module and a re-parameterization module,
wherein the trajectory determination module is configured to determine, for each of the working motions of the kinematic chain (4 a, 4 b), a respective value as a trajectory function (q 1 、q 2 ) Is a minimum time trace (q) 1 (τ 1 )、q 2 (τ 2 ))，
Wherein the re-parameterization module is configured to determine a time-dependent path based on the minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ) Trajectory function (q) 1 、q 2 ) Re-parameterizing such that the total motion is collision-free,
wherein the trajectory determination module determines the trajectory by means of the intrinsic time (τ 1 、τ 2 ) To describe the minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ) Wherein the re-parameterization module has an inspection function (c (q) 1 (τ 1 )、q 2 (τ 2 ) And the re-parameterization module is configured to determine a time (τ) to be determined by the intrinsic time (τ) 1 、τ 2 ) The open subspace (7) is divided into a collision space (9) and an effective space (8), wherein the collision space (9) is delimited by points in the subspace (7)Defining that for points in the subspace the checking function c determines collisions of the kinematic chains (4 a, 4 b) and that the effective space (8) is defined by points in the subspace (7) for which the checking function determines collision-free properties of the kinematic chains (4 a, 4 b), wherein the re-parameterization module is configured for acting as a global time curve t R -determining a curve in said active space (8).
2. Handling device (1) according to claim 1, characterized in that the kinematic chains (4 a, 4 b) are respectively robotic arms.
3. Handling device (1) according to claim 1 or 2, characterized in that the minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ) Is a track function (q) 1 、q 2 ) The trajectory function requires a minimum of time in order to perform the work motion.
4. Handling device (1) according to any of the preceding claims, wherein said trajectory determination module is configured for determining said minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ))。
5. Handling device (1) according to any of the preceding claims, characterized in that said re-parameterization module is configured for using a global time curve t R The total motion is re-parameterized.
6. Handling device (1) according to any of the preceding claims, characterized in that the robot (2) has n kinematic chains (4 a, 4 b), wherein the global time profile t R Is a curve in n-dimensional space.
7. Handling device (7) according to claim 1, characterized in thatThe total movement starts at a start point and ends at an end point, wherein a time coordinate (tau) can be assigned to the start point and a time coordinate (tau) can be assigned to the end point in the subspace (7) E ) Wherein the re-parameterization module is configured for determining the global time curve t as a shortest connection between time coordinates of an end point and a start point in the active space (7) R 。
8. Handling device (1) according to any of claims 6 to 7, characterized in that the total movement starts at a start point and ends at an end point, wherein a time coordinate (τ) can be assigned to a start point in the subspace (7) S ) And can assign a time coordinate (τ) to the endpoint E ) Wherein the re-parameterization module is configured for determining the global time curve t as the fastest connection between time coordinates of a start point and an end point in the active space (7) R 。
9. Handling device (1) according to any of the preceding claims, characterized in that the control module is configured for converting a re-parameterized minimum time trajectory (q 1 (τ 1 )、q 2 (τ 2 ))。
10. Handling device (1) according to any of the preceding claims, characterized in that said total movement comprises asynchronous work movements of the two kinematic chains (4 a, 4 b).
11. Method for maneuvering a robot (2) with a maneuvering device according to any of the preceding claims, characterized in that a minimum time trajectory (q) is determined for each motion chain (4 a, 4 b) of the robot (2) 1 、q 2 ) Wherein the method is based on the minimum time trace (q 1 (τ 1 )、q 2 (τ 2 ) Trajectory function (q) 1 、q 2 ) Performing a re-parameterization such that theThe total movement of the kinematic chains (4 a, 4 b) is free from collisions.
12. Computer program with program code segments for implementation, characterized in that the method according to claim 11 is implemented when the computer program is executed on a computer or on the operating device (1).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017213651.0A DE102017213651A1 (en) | 2017-08-07 | 2017-08-07 | Handling device with a robot and method and computer program |
| DE102017213651.0 | 2017-08-07 | ||
| PCT/EP2018/065689 WO2019029870A1 (en) | 2017-08-07 | 2018-06-13 | Handling device having a robot, and method and computer program |
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| Publication Number | Publication Date |
|---|---|
| CN110914020A CN110914020A (en) | 2020-03-24 |
| CN110914020B true CN110914020B (en) | 2023-08-18 |
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| JP (1) | JP7003220B2 (en) |
| KR (1) | KR102553391B1 (en) |
| CN (1) | CN110914020B (en) |
| DE (1) | DE102017213651A1 (en) |
| WO (1) | WO2019029870A1 (en) |
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| CN110370314B (en) * | 2019-06-11 | 2020-11-13 | 杭州亿恒科技有限公司 | Double-arm robot performance measuring method based on multi-laser tracker |
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| JP2020529931A (en) | 2020-10-15 |
| JP7003220B2 (en) | 2022-01-20 |
| WO2019029870A1 (en) | 2019-02-14 |
| KR20200038468A (en) | 2020-04-13 |
| DE102017213651A1 (en) | 2019-02-07 |
| CN110914020A (en) | 2020-03-24 |
| KR102553391B1 (en) | 2023-07-11 |
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