DE102020209866B3 - Method and system for operating a robot - Google Patents

Abstract

To operate a robot (10) which has several drives (11), these are regulated on the basis of target forces and / or torques τc, which have at least one of the following components: a potential component τVx, which is derived from a control difference between a target pose xc and an actual pose x depend on a robot-fixed reference; a damping component τ Rx, which depends on a speed ẋ of the robot-fixed reference; a potential component τVq, which depends on a control difference between target joint positions qc and actual joint positions q; a damping component τRq, which depends on joint speeds q̇̇ of the robot; and / or a braking component τVq *, which depends on a deviation between trigger joint positions when a predetermined energy budget Lmax and actual joint positions are exceeded; wherein the potential component τVx and / or τVq is scaled with a scaling function κ and / or the attenuation component τRx and / or τRq is scaled with the square root of the scaling function κ; the braking component τVq * is scaled with a scaling function ρ and / or a time advance of the target pose xc and / or target joint positions qc is interrupted as long as an energy quantity Lcein exceeds the specified energy budget Lmax.

Description

The present invention relates to a method and system for operating a robot and a computer program product for carrying out the method.

When operating robots, in which a physical human-robot interaction ("physical human-robot interaction", pHRI) is provided, collisions between humans and robots as well as human trapping by the robot present control engineering challenges.

the DE 10 2018 112 360 B3 relates to a method for controlling an actuator-driven robot manipulator with an end effector, in which the end effector executes a predetermined target movement and, while the target movement is being carried out, executes a task within a predetermined geometric area around a location, comprising the steps of: determining a external power winder K introduced into the robot manipulator, K having a vector F of external forces and / or a vector M of external moments; Detecting an undesired collision of the robot manipulator if K exceeds a predefined first limit value while the end effector is outside the predetermined geometric area around the location; Detecting an incorrect execution of the task if K exceeds a predefined second limit value or if K <K _des , in each case while the end effector is within the specified geometric area around the location, where K _{des is} an expected and / or desired power winder within the specified geometric area, and controlling the robot manipulator in a failure mode if an undesired collision of the robot manipulator and / or an incorrect execution of the task is detected.

After DE 10 2014 226 936 B3 the following steps are carried out in the whole-body impedance control of a mobile system with a kinematically controlled, movable platform that can be moved in at least one direction of movement and / or rotated around at least one axis of rotation and with a force- or torque-controlled manipulator with joints and a gripper: a) Defining a task for the gripper in a Cartesian workspace and an impedance for performing the task by the mobile system, b) determining those joint forces and moments for the manipulator and those in the at least one direction of movement and / or that torque for the movable one Platform that are required to implement the impedance when performing the task, c) Applying the required manipulator joint forces and moments on the manipulator, d) Applying at least one required force and / or the required torque on the movable platform with a specified possible admittance in the respective direction of movement and / or rotation, e) implementation of the movement of the movable platform resulting from the admittance by a kinematic controller and f) additional model-based control of the mobile system for the modification and / or compensation of between the manipulator and the movable platform given inertia and Coriolis as well as centrifugal couplings.

After DE 10 2010 033 248 A1 In a method for monitoring a manipulator, a model energy variable of the manipulator is determined, a drive energy variable of the manipulator being additionally determined and compared with the model energy variable and / or at least one input variable for determining the energy variable is recorded using safe technology.

the DE 10 2009 040 194 B4 relates to a method for force and / or torque control of robots, the robot having a tool with a tool center point, a robot controller with a position interface for outputting an actual position determined internally by the robot, at least one sensor for detecting forces and torques that act on the Tool are exercised and at least one flexibility between the robot and the tool center point, with the following steps: 1. Specifying a task with a target movement of the robot and target forces and / or target torques that are to be exerted by the tool on a workpiece, 2. Carrying out the Task with the following sub-steps forming a control loop: - Determination of a deflection of the flexibility between the robot and the tool center point and the fictitious vectorial distance of the tool center point, determined from the actual position, neglecting the deflection of the flexibility, from a contact point between the tool and d Workpiece - Determination of the target position of the tool center point via the actual position, the fictitious vectorial distance and a target distance, the target movement being regulated in such a way that the target forces and / or the target torques are exerted on the workpiece by the tool, with prior Step 1, after step 1 and / or during step 2, the following intermediate step is carried out: a) Calibrating the sensor in such a way that the forces and moments recorded by the sensor are output as a fictitious vectorial distance, the calibration in addition to the elasticity of the flexibility between the robot and the Tool center the The elasticity of the workpiece and / or a decentralized arrangement of the sensor in relation to the tool center point is taken into account.

the EP 3 287 244 A1 suggests that, in an industrial robot, deviations of the end effector from a programmed trajectory when moving the end effector along a path, which are primarily caused by cogging torques of the drives, should be reduced: Carry out a learning run in which the real path deviates from the ideal trajectory can be determined; using an inverse model of the industrial robot to determine the interfering torques causing the deviations; to determine the correction angle for the axis angle supplied to the axes of the industrial robot from the disturbance torques; to operate the industrial robot taking the correction angle into account.

One object of an embodiment of the present invention is to improve the operation of a robot, in particular an operation in which a physical human-robot interaction is provided.

This object is achieved by a method with the features of claim 1. Claims 6, 7 provide a system or computer program product for performing a method described here under protection. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, a robot has a plurality of drives, electromotive in one embodiment, which each move or (adjust) a joint or an axis of the robot or are set up or used for this purpose.

In one embodiment, the robot has a robot arm and / or a mobile or stationary base. In one embodiment, the robot, in a further development its arm, has at least three, in particular at least six, in one embodiment at least seven, joints, in one embodiment swivel joints.

The present invention is particularly suitable for such robots, in particular because of the areas of application and dynamics of such robots.

• - einen, in einer Ausführung positiven, Potentialanteil τ_{V x} , der von einer, insbesondere partiellen, Ableitung eines Potentials V_x nach einer Pose x einer roboterfesten Referenz abhängt, wobei das Potential V_x bei zunehmender Regeldifferenz zwischen einer Soll-Pose x_c und einer Ist-Pose x dieser roboterfesten Referenz in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich dieser Regeldifferenz, zunimmt;
• - einen, in einer Ausführung negativen, Dämpfungsanteil ${\tau }_{R_x}\text{,}$
  
  der von einer, insbesondere partiellen, Ableitung einer Dissipationsfunktion $R_x$
  
  nach einer Geschwindigkeit ẋ einer, insbesondere der(selben), roboterfesten Referenz abhängt, wobei die Dissipationsfunktion ${\tau }_{R_x}$
  
  bei zunehmender Geschwindigkeit dieser roboterfesten Referenz in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich dieser Geschwindigkeit, zunimmt;
• - einen, in einer Ausführung positiven, Potentialanteil τ_{V q} , der von einer, insbesondere partiellen, Ableitung eines Potentials V_q nach Gelenkstellungen q des Roboters abhängt, das bei zunehmender Regeldifferenz zwischen Soll-Gelenkstellungen q_c und Ist-Gelenkstellungen q in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich dieser Regeldifferenz, zunimmt;
• - einen, in einer Ausführung negativen, Dämpfungsanteil ${\tau }_{R_q}$
  
  der von einer, insbesondere partiellen, Ableitung einer Dissipationsfunktion $R_q$
  
  nach Gelenkgeschwindigkeiten q̇ des Roboters abhängt, wobei die Dissipationsfunktion $R_q$
  
  bei zunehmenden Gelenkgeschwindigkeiten in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich dieser Geschwindigkeiten, zunimmt; und/oder
• - einen, in einer Ausführung positiven, Bremsanteil ${\tau }_{V_q^{*}}\text{,}$
  
  der von einer, insbesondere partiellen, Ableitung eines Potentials $V_q^{*}$
  
  nach Gelenkstellungen q des Roboters abhängt, wobei das Potential $V_q^{*}$
  
  bei zunehmender Abweichung zwischen
  • - Trigger-Gelenkstellungen bei Überschreiten eines vorgegebenen Energiebudgets L_max durch eine kinetische Energie T des Roboters und
  • - Ist-Gelenkstellungen

in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich dieser Abweichung und/oder der kinetischen Energie, zunimmt, solange das vorgegebene Energiebudget L_max weiterhin überschritten ist.According to one embodiment of the present invention, for or when operating the robot, the drives are _{controlled on the basis of target forces and / or torques τ c} , which have at least one of the following components:

• - a potential component τ _{V, which is positive in one embodiment x} which depends on a, in particular partial, derivation of a potential V _x according to a pose x of a robot-fixed reference, the potential V _x with increasing control difference between a target pose x _c and an actual pose x of this robot-fixed reference in at least one area , in particular in at least one area of this control difference increases;
• - a damping component, which is negative in one version ${\tau }_{{\mathrm{R.}}_x}\text{,}$
  
  that of a, in particular partial, derivation of a dissipation function ${\mathrm{R.}}_x$
  
  depends on a speed ẋ of a, in particular the (same), robot-fixed reference, the dissipation function ${\tau }_{{\mathrm{R.}}_x}$
  
  with increasing speed, this robot-fixed reference increases in at least one area, in particular in at least one area of this speed;
• - A potential component τ _{V, which is positive in one embodiment q} which depends on a, in particular partial, derivation of a potential V _q according to joint positions q of the robot, which increases with increasing control difference between target joint positions q _c and actual joint positions q in at least one area, in particular in at least one area of this control difference;
• - a damping component, which is negative in one version ${\tau }_{{\mathrm{R.}}_q}$
  
  that of a, in particular partial, derivation of a dissipation function ${\mathrm{R.}}_q$
  
  depends on joint speeds q̇ of the robot, where the dissipation function ${\mathrm{R.}}_q$
  
  increases with increasing joint speeds in at least one range, in particular in at least one range of these speeds; and or
• - a braking component, which is positive in one version ${\tau }_{V_q^{*}}\text{,}$
  
  that of a, in particular partial, derivative of a potential $V_q^{*}$
  
  depends on the joint positions q of the robot, where the potential $V_q^{*}$
  
  with increasing deviation between
  • - Trigger joint positions when a predetermined energy budget L _{max is} exceeded by a kinetic energy T of the robot and
  • - Actual joint positions

this deviation and / or the kinetic energy increases in at least one area, in particular in at least one area, as long as the specified energy budget L _{max is} still exceeded.

• - der Potentialanteil τ_{V x} und/oder τ_{V q} mit dieser Skalierungsfunktion κ skaliert ist, in einer Ausführung diese Skalierungsfunktion κ als Faktor, in einer Ausführung als Linearfaktor, aufweist; und/oder
• - der Dämpfungsanteil ${\tau }_{R_x}$
  
  und/oder ${\tau }_{R_q}$
  
  mit der Wurzel dieser Skalierungsfunktion κ skaliert ist, in einer Ausführung die Wurzel dieser Skalierungsfunktion κ als Faktor, in einer Ausführung als Linearfaktor, aufweist.

According to one embodiment of the present invention, a scaling function κ has a first value at a first value of an energy variable L _C , which depends on the kinetic energy T of the robot and a control difference between a one-dimensional or multi-dimensional target and actual variable of the robot , and with a larger second value of the energy quantity a smaller second value, where

• - the potential component τ _{V x} and / or τ _{V q} is scaled with this scaling function κ, in one embodiment this scaling function κ as a factor, in one embodiment as a linear factor; and or
• - the damping component ${\tau }_{{\mathrm{R.}}_x}$
  
  and or ${\tau }_{{\mathrm{R.}}_q}$
  
  is scaled with the root of this scaling function κ, in one embodiment has the root of this scaling function κ as a factor, in one embodiment as a linear factor.

mit dieser Skalierungsfunktion ρ skaliert ist, in einer Ausführung diese Skalierungsfunktion ρ als Faktor, in einer Ausführung als Linearfaktor, aufweist.Additionally or alternatively, according to one embodiment of the present invention, a scaling function ρ increases in at least one area of the kinetic energy T with an increase in the kinetic energy T and / or with an increasing deviation between the trigger and actual joint positions, the braking component decreasing ${\tau }_{V_q^{*}}$

is scaled with this scaling function ρ, in one embodiment this scaling function ρ as a factor, in one embodiment as a linear factor.

Additionally or alternatively, according to one embodiment of the present invention, a time advance or time sequence (for) the target pose x _c and / or (for the) target joint positions q _{c is} interrupted as long as one, in particular the, energy variable L _C , which depends on the kinetic energy T of the robot and one or the control difference between a setpoint and actual size of the robot, in particular exceeds the _{specified energy budget L max.}

mit der Massenmatrix M(q) im Raum der Gelenkkoordinaten des Roboters beschrieben werden.The kinetic energy T of the robot can in a manner known per se generally in the form $$T=\frac{1}{2}{\dot{q}}^T\mathrm{M.}\left(q\right)\dot{q}$$

with the mass matrix M (q) in the space of the joint coordinates of the robot.

In one version, the energy quantity L _c depends not only on the kinetic energy T of the robot, but also on the potential V _x and / or V _q , in one version in the form: $${\mathrm{L.}}_c=T+V_x+V_q$$

Correspondingly, the target size of the robot, on which the energy quantity L _C depends, includes in one embodiment the target pose x _c and / or the target joint positions q _c , and / or includes the actual size of the robot from which the Energy quantity L _C depends, in one embodiment the actual pose x and / or the actual joint positions q.

In one embodiment, the drives are _{commanded with these target forces or torques τ c} or these target forces or torques τ _c (the drives) are commanded.

By the potential V _q or the potential component τ _{V q} In one embodiment, a desired behavior of the robot in its joint space or space of its joint positions q can be implemented, for example a distance from axis limits, singular robot poses or the like. A joint position can in particular be an angular position or position.

mit den Soll-Gelenkstellungen q_c, den Ist-Gelenkstellungen q und der Steifigkeitsmatrix K_q. Hierdurch kann das gewünschte Verhalten des Roboters in seinem Gelenkraum in einer Ausführung besonders einfach realisiert werden.In one embodiment, the potential V _q depends on a specified stiffness matrix and / or in quadratic form on the control difference between the target and actual joint positions, in one embodiment in the form: $$V_q=\frac{1}{2}{\left(q_c-q\right)}^T{K}_q\left(q_c-q\right)$$

with the target joint positions q _c , the actual joint positions q and the stiffness matrix K _q . As a result, the desired behavior of the robot in its joint space can be implemented particularly easily in one embodiment.

Analogously, through the potential V _x or the potential component τ _{V x} In one embodiment, a desired behavior of the robot in Cartesian space or the space of the poses x of a robot-fixed reference can be implemented, for example approaching predefined poses, following predefined paths or the like. A robot-fixed reference can in particular be the TCP ("Tool Center Point") or another distinguished reference point or reference point or another distinguished reference or reference coordinate system. In one embodiment, a pose comprises one, in particular one, two or three-dimensional, position and / or one, in particular one, two- or three-dimensional, orientation or angular position, these being also described four-dimensionally by quaternions or the like in one embodiment or can be.

mit der Soll-Pose x_c, der Ist-Pose x und der Steifigkeitsmatrix K_x. In einer Ausführung können die Orientierungsanteile in Form von Quaternionen berücksichtig werden: $$V_x=\underset{V_p}{\underbrace{\frac{1}{2}{\left({}^0{p}_{des}{-}^{0}p\right)}^T{K}_p\left({}^0{p}_{des}{-}^{0}p\right)}}+\underset{V_{\epsilon }}{\underbrace{2^{tcp}{\epsilon }_{des}^T{}^{tcp}{R}_0{K}_{\epsilon }{}^0{R}_{tcp}{}^{tcp}{\epsilon }_{des}}}$$

mit der Soll-Position ⁰p_des und der Ist-Position ⁰p im Koordinatensystem 0, der Rotationsmatrix ^tcpR_des zwischen der Soll- und Ist-Orientierung, die in Quaternionen mit der Skalarkomponente ^desη_tcp und der Vektorkomponente ^desε_tcp konvertiert wird, und den Steifigkeitsmatrizen K_p, K_ε. Hierdurch kann das gewünschte Verhalten des Roboters im kartesischen Raum in einer Ausführung besonders einfach realisiert werden.In one embodiment, the potential V _x depends on a specified rigidity matrix and / or in quadratic form on the control difference between the target and actual pose of the robot-fixed reference, in one embodiment in the form: $$V_x=\frac{1}{2}{\left(x_c-x\right)}^T{K}_x\left(x_c-x\right)$$

with the target pose x _c , the actual pose x and the stiffness matrix K _x . In one version, the orientation components can be taken into account in the form of quaternions: $$V_x=\underset{V_p}{\underbrace{\frac{1}{2}{\left({}^0{p}_{des}{-}^{0}p\right)}^T{K}_p\left({}^0{p}_{des}{-}^{0}p\right)}}+\underset{V_{\epsilon }}{\underbrace{2^{tcp}{\epsilon }_{des}^T{}^{tcp}{\mathrm{R.}}_0{K}_{\epsilon }{}^0{\mathrm{R.}}_{tcp}{}^{tcp}{\epsilon }_{des}}}$$

with the target position ⁰ p _des and the actual position ⁰ p in the coordinate system 0, the rotation matrix ^tcp R _des between the target and actual orientation, which is converted into quaternions with the scalar component ^of η _tcp and the vector component ^of ε _tcp , and the stiffness matrices K _p , K _ε . As a result, the desired behavior of the robot in Cartesian space can be implemented in a particularly simple manner.

$R_x\text{,}$

bzw. Dämpfungsanteile ${\tau }_{R_q}\text{,}$

${\tau }_{R_x}$

kann in einer Ausführung das Regelverhalten des Roboters verbessert werden, beispielsweise ein zu starkes Überschwingen bzw. Instabilitäten verhindert werden.By the dissipation functions ${\mathrm{R.}}_q\text{,}$

${\mathrm{R.}}_x\text{,}$

or attenuation components ${\tau }_{{\mathrm{R.}}_q}\text{,}$

${\tau }_{{\mathrm{R.}}_x}$

In one embodiment, the control behavior of the robot can be improved, for example excessive overshoot or instabilities can be prevented.

von einer vorgegebenen Widerstandsmatrix und/oder in quadratischer Form von der Geschwindigkeit x ab und/oder die Dissipationsfunktion $R_q$

von einer vorgegebenen Widerstandsmatrix und/oder in quadratischer Form von den Gelenkgeschwindigkeiten q̇ ab, in einer Ausführung in der Form: $$R_q=\frac{1}{2}{\dot{q}}^T{B}_q\dot{q}$$

und/oder $$R_x=\frac{1}{2}{\dot{x}}^T{B}_x\dot{x}$$

In one embodiment, the dissipation function depends ${\mathrm{R.}}_x$

from a given resistance matrix and / or in quadratic form from the speed x and / or the dissipation function ${\mathrm{R.}}_q$

from a given resistance matrix and / or in quadratic form from the joint speeds q̇, in one embodiment in the form: $${\mathrm{R.}}_q=\frac{1}{2}{\dot{q}}^T{\mathrm{B.}}_q\dot{q}$$

and or $${\mathrm{R.}}_x=\frac{1}{2}{\dot{x}}^T{\mathrm{B.}}_x\dot{x}$$

und/oder die Widerstandsmatrix B_x der Dissipationsfunktion $R_x$

in einer Ausführung von der (jeweiligen) Massenmatrix abhängen, in einer Ausführung in der Form: $$B_q=\sqrt{M\left(q\right)}diag\left\{{\zeta }_q\right\}\sqrt{K_q}+\sqrt{K_q}diag\left\{{\zeta }_q\right\}\sqrt{M\left(q\right)}$$

und/oder $$B_x=\sqrt{L_x}diag\left\{{\zeta }_x\right\}\sqrt{K_x}+\sqrt{K_x}diag\left\{{\zeta }_x\right\}\sqrt{L_x}$$

mit den Dämpfungsfaktoren 0 ≤ ζ_x, ζ_q ≤ 1 und der Massenmatrix Λ_x = (J(q)M^-1(q)J^T(q))^-1 mit der Jacobimatrix J(q) der roboterfesten Referenz.The resistance matrix B _{q can be} the dissipation function ${\mathrm{R.}}_q$

and / or the resistance matrix B _{x of} the dissipation function ${\mathrm{R.}}_x$

in one version depend on the (respective) mass matrix, in one version in the form: $${\mathrm{B.}}_q=\sqrt{\mathrm{M.}\left(q\right)}diaG\left\{{\zeta }_q\right\}\sqrt{K_q}+\sqrt{K_q}diaG\left\{{\zeta }_q\right\}\sqrt{\mathrm{M.}\left(q\right)}$$

and or $${\mathrm{B.}}_x=\sqrt{{\mathrm{L.}}_x}diaG\left\{{\zeta }_x\right\}\sqrt{K_x}+\sqrt{K_x}diaG\left\{{\zeta }_x\right\}\sqrt{{\mathrm{L.}}_x}$$

with the damping factors 0 ≤ ζ _x , ζ _q ≤ 1 and the mass matrix Λ _x = (J (q) M ^-1 (q) J ^T (q)) ^-1 with the Jacobian matrix J (q) of the robot-fixed reference.

τ_{V q} bzw. ${\tau }_{R_q}$

auch entfallen, wenn beispielsweise kein Verhalten im kartesischen oder Gelenkraum vorgegeben oder keine Dämpfung im kartesischen bzw. Gelenkraum erforderlich ist.As can be seen from the above, some of the above components τ _{V x} , ${\tau }_{{\mathrm{R.}}_x}$

τ _{V q} respectively. ${\tau }_{{\mathrm{R.}}_q}$

also omitted if, for example, no behavior is specified in the Cartesian or joint space or no damping is required in the Cartesian or joint space.

in wenigstens einem Bereich, insbesondere in wenigstens einem Bereich der Abweichung und/oder der kinetischen Energie T, von einer vorgegebenen Steifigkeitsmatrix und/oder in quadratischer Form von der Abweichung zwischen Trigger- und Ist-Gelenkstellungen ab, in einer Ausführung in der Form: $$V_q^{*}=\{\begin{array}{cc}0& \text{wenn }T\le L_{max}\\ \frac{1}{2}{\left(q^{*}-q\right)}^2{K}_q^{*}{\left(q^{*}-q\right)}^2& \text{wenn }T>L_{max}\end{array}$$

In one implementation, the potential depends $V_q^{*}$

in at least one area, in particular in at least one area of the deviation and / or the kinetic energy T, from a predetermined stiffness matrix and / or in quadratic form from the deviation between the trigger and actual joint positions, in one embodiment in the form: $$V_q^{*}=\{\begin{array}{cc}0& \text{if}T\le {\mathrm{L.}}_{max}\\ \frac{1}{2}{\left(q^{*}-q\right)}^2{K}_q^{*}{\left(q^{*}-q\right)}^2& \text{if}T>{\mathrm{L.}}_{max}\end{array}$$

bei zunehmender Abweichung (q^∗ - q) zwischen den Trigger- Gelenkstellungen q^∗ bei Überschreiten des vorgegebenen Energiebudgets L_max des Roboters und den Ist-Gelenkstellungen q zunimmt, solange die kinetische Energie T des Roboters das vorgegebene Energiebudget L_max weiterhin überschreitet bzw. das vorgegebene Energiebudget L_max (durch die kinetische Energie T des Roboters) weiterhin überschritten ist.The trigger joint positions q ^∗ are the joint positions in which the kinetic energy T of the robot first _{exceeds the specified energy budget L max} (T> L _max ). It can be seen from equation (6) that the potential $V_q^{*}$

with increasing deviation (q ^∗ - q) between the trigger joint positions q ^∗ when the specified energy budget L _{max of} the robot and the actual joint positions q is exceeded, as long as the kinetic energy T of the robot continues to exceed _{the specified energy budget L max or the} predetermined energy budget L _max (by the kinetic energy T of the robot) is still exceeded.

bzw. den Bremsanteil ${\tau }_{V_q^{*}}$

kann in einer Ausführung vorteilhaft verhindert werden, dass der Roboter sich in unerwünschter bzw. nachteiliger Weise bewegt, falls ein Bediener ihn, insbesondere infolge einer Klemmsituation, wegstößt.Through the potential $V_q^{*}$

or the braking component ${\tau }_{V_q^{*}}$

In one embodiment, the robot can advantageously be prevented from moving in an undesirable or disadvantageous manner if an operator pushes it away, in particular as a result of a jammed situation.

mit der vorgegebenen Konstanten Ω ≥ 1. Man erkennt an Gleichung (7), dass die Skalierungsfunktion ρ in dem Bereich T > L_max der kinetischen Energie T bei Zunahme der kinetischen Energie T zu- und bei zunehmender Abweichung zwischen Trigger- und Ist-Gelenkstellungen, d.h. zunehmendem Potential $V_q^{*}$

abnimmt.In particular for this purpose, the scaling function ρ can have the form in one embodiment: $$\rho =\{\begin{array}{cc}0& \text{if}T\le {\mathrm{L.}}_{max}\\ \mathrm{\Omega }\frac{T}{{\mathrm{L.}}_{max}-V_q^{*}}& \text{if}T>{\mathrm{L.}}_{max}\end{array}$$

with the given constant Ω ≥ 1. It can be seen from equation (7) that the scaling function ρ increases in the range T> L _{max of} the kinetic energy T with an increase in the kinetic energy T and with an increasing deviation between the trigger and actual joint positions , ie increasing potential $V_q^{*}$

decreases.

In one embodiment, this can particularly advantageously prevent the robot from moving in an undesirable or disadvantageous manner if an operator pushes it away, in particular as a result of a jammed situation.

By means of the scaling function κ, in one embodiment, if necessary, a subsequent behavior of the robot, in particular in the event of a collision or jamming, can advantageously be reduced automatically.

In particular, for this purpose, the scaling function κ has a constant value in one embodiment in at least one area in which the energy quantity L _C does not exceed the energy budget L _max , in particular it can be equal to 1.

Additionally or alternatively, in one embodiment, the scaling function κ has _{a minimum value in at least one area in which the kinetic energy T exceeds the energy budget L max} , in particular it can be equal to 0.

Additionally or alternatively, the scaling function κ decreases in one embodiment in at least one area in which the energy quantity L _C exceeds the energy budget L _max , with an increase in the kinetic energy T, an increase in the potential V _x and / or an increase in the potential V _q .

In one embodiment, the scaling function κ has the form: $$\kappa =\{\begin{array}{ll}1\hfill & \text{if}{\mathrm{L.}}_c\le {\mathrm{L.}}_{max}\hfill \\ \frac{{\mathrm{L.}}_{max}-T}{V_q+V_q}\hfill & \text{if}{\mathrm{L.}}_c>{\mathrm{L.}}_{max}\hfill \\ 0\hfill & \text{if}T>{\mathrm{L.}}_{max}\hfill \end{array}$$

As a result, in one embodiment, the subsequent behavior of the robot, in particular in the event of a collision or jamming situation, can be adapted particularly advantageously.

von der Jacobimatrix J der roboterfesten Referenz ab, in einer Ausführung (jeweils) linear und/oder von der Transponierten J^T der Jacobimatrix, insbesondere also linear von der Transponierten J^T. Dadurch können diese Anteile vorteilhaft im kartesischen Raum definiert bzw. berechnet und dann in den Gelenkraum transformiert werden.In one embodiment, the potential component τ _{V depends x} and / or the damping component ${\tau }_{{\mathrm{R.}}_x}$

from the Jacobian matrix J of the robot-fixed reference, in one embodiment (in each case) linear and / or from the transpose J ^T of the Jacobian matrix, in particular therefore linearly from the transposed J ^T. As a result, these components can advantageously be defined or calculated in Cartesian space and then transformed into the joint space.

Correspondingly, the target forces and / or torques τ _{c are} calculated in one version in the form: $${\tau }_c=\underset{{\tau }_{V_x}}{\underbrace{J^T\left(q\right)\kappa \frac{\partial V_x}{\partial x}}}-\underset{{\tau }_{{\mathrm{R.}}_x}}{\underbrace{J^T\left(q\right)\sqrt{\kappa }\frac{\partial {\mathrm{R.}}_x}{\partial \dot{x}}}}+\underset{{\tau }_{V_q}}{\underbrace{\kappa \frac{\partial V_q}{\partial q}}}-\underset{{\tau }_{{\mathrm{R.}}_q}}{\underbrace{\sqrt{\kappa }\frac{\partial {\mathrm{R.}}_q}{\partial \dot{q}}}}+\underset{{\tau }_{V_q^{*}}}{\underbrace{\rho \frac{\partial V_q^{*}}{\partial q}}}$$

bzw. Dissipationsfunktionen $R_x\text{,}$

$R_q$

nicht selber berechnet werden, d.h. anstelle von Gleichung (9) kann durch Einsetzen der anderen Gleichungen auch die Gleichung $$\begin{array}{l}{\tau }_c=J^T\left(q\right)\left(\begin{array}{c}{}^{\_tcp}{R}_0\kappa K_p\left({}^{0}p{-}^0{p}_{des}\right)\\ 2E{\left({}^{tcp}{\eta }_{des}{,}^{tcp}{\epsilon }_{des}\right)}^{tcp}{R}_0\kappa K_{\epsilon }{}^0{R}_{tcp}{}^{tcp}{\epsilon }_{des}\end{array}\right)-J^T\left(q\right)\left(\sqrt{\kappa }{B}_x\dot{x}\right)+\\ +\kappa K_q\left(q_c-q\right)-\sqrt{\kappa }{B}_q\dot{q}+\rho K_q^{*}\left(q^{*}-q\right)\end{array}$$

mit E(^tcpη_des, ^tcpε_des) = ^tcpη_desI - ^tcpε̃_des mit der schiefsymmetrischen Matrixnotation von ^tcpε_des. Man beachte, dass für T < L_max (wieder) gilt q^∗ = q, d.h. $V_q^{*}=0.$

The potentials V _x , V _q , $V_q^{*}$

or dissipation functions ${\mathrm{R.}}_x\text{,}$

${\mathrm{R.}}_q$

cannot be calculated itself, ie instead of equation (9), the equation $$\begin{array}{l}{\tau }_c=J^T\left(q\right)\left(\begin{array}{c}{}^{\_tcp}{\mathrm{R.}}_0\kappa K_p\left({}^{0}p{-}^0{p}_{des}\right)\\ 2\mathrm{E.}{\left({}^{tcp}{\eta }_{des}{,}^{tcp}{\epsilon }_{des}\right)}^{tcp}{\mathrm{R.}}_0\kappa K_{\epsilon }{}^0{\mathrm{R.}}_{tcp}{}^{tcp}{\epsilon }_{des}\end{array}\right)-J^T\left(q\right)\left(\sqrt{\kappa }{\mathrm{B.}}_x\dot{x}\right)+\\ +\kappa K_q\left(q_c-q\right)-\sqrt{\kappa }{\mathrm{B.}}_q\dot{q}+\rho K_q^{*}\left(q^{*}-q\right)\end{array}$$

with E ( ^tcp η _des , ^tcp ε _des ) = ^tcp η _des I - ^tcp ε̃ _des with the asymmetrical matrix notation of ^tcp ε _des . Note that for T <L _max (again) we have q ^∗ = q, ie $V_q^{*}=0.$

As already mentioned, one or more of these summands can optionally also be omitted.

mit der Samplezeit t_S des Roboterreglers, der die Regelungszeit t_C am Ende jedes Regelzyklus bzw. -taktes updated, wobei die Soll-Posen und/oder -gelenkstellungen als Funktionen der Regelzeit t_C vorgegeben sind bzw. werden. Dadurch (be)hält der Regler die Soll-Posen bzw. -gelenkstellungen während einer Kontaktsituation (bei).By interrupting the time advance or timing (with) the target pose x _c and / or (with the) target joint positions q _c , as long as the energy quantity L _C exceeds the specified energy budget L _max , an influence of the Scaling function κ is reduced when a contact situation is eliminated or resolved and thus in particular prevents undesired, in particular unforeseen, behavior of the robot. For this purpose, in one embodiment, the specified target poses and / or joint positions are specified as a function of an effective time t _eff , for which the following applies: $$t_{eff}=\{\begin{array}{cc}{t}_{eff}\to t_{eff}+t_s& \text{if}{\mathrm{L.}}_c\le {\mathrm{L.}}_{max}\\ t_{eff}\to t_{eff}& sOnst\end{array}$$

with the sample time t _{S of} the robot controller, which updates the control time t _C at the end of each control cycle or cycle, whereby the target poses and / or joint positions are or will be specified _{as functions of the control time t C.} As a result, the controller maintains the target poses or joint positions during a contact situation.

• - einen Potentialanteil τ_{V x} , der von einer Ableitung eines Potentials V_x nach einer Pose x einer roboterfesten Referenz abhängt, das bei zunehmender Regeldifferenz zwischen einer Soll-Pose x_c und einer Ist-Pose x dieser roboterfesten Referenz in wenigstens einem Bereich zunimmt;
• - einen Dämpfungsanteil ${\tau }_{{\mathcal{R}}_x},$
  
  der von einer Ableitung einer Dissipationsfunktion ${\mathcal{R}}_x$
  
  nach einer Geschwindigkeit ẋ einer roboterfesten Referenz abhängt, die bei zunehmender Geschwindigkeit dieser roboterfesten Referenz in wenigstens einem Bereich zunimmt;
• - einen Potentialanteil τ_{V q} , der von einer Ableitung eines Potentials V_q nach Gelenkstellungen q des Roboters abhängt, das bei zunehmender Regeldifferenz zwischen Soll-Gelenkstellungen q_c und Ist-Gelenkstellungen q in wenigstens einem Bereich zunimmt;
• - einen Dämpfungsanteil ${\tau }_{{\mathcal{R}}_q},$
  
  der von einer Ableitung einer Dissipationsfunktion ${\mathcal{R}}_q$
  
  nach Gelenkgeschwindigkeiten q̇ des Roboters abhängt, die bei zunehmenden Gelenkgeschwindigkeiten in wenigstens einem Bereich zunimmt; und/oder
• - einen Bremsanteil ${\tau }_{V_q^{*}},$
  
  der von einer Ableitung eines Potentials $V_q^{*}$
  
  nach Gelenkstellungen q des Roboters abhängt, das bei zunehmender Abweichung zwischen Trigger-Gelenkstellungen bei Überschreiten eines vorgegebenen Energiebudgets L_max durch eine kinetischen Energie T des Roboters und Ist-Gelenkstellungen in wenigstens einem Bereich zunimmt, solange das vorgegebene Energiebudget L_max weiterhin überschritten ist;

wobei

• - eine Skalierungsfunktion κ bei einem ersten Wert einer Energiegröße L_C, die von der kinetischen Energie T des Roboters und einer Regeldifferenz zwischen einer Soll- und Ist-Größe des Roboters abhängt, einen ersten Wert aufweist, und bei einem größeren zweiten Wert der Energiegröße einen kleineren zweiten Wert aufweist, und der Potentialanteil τ_{V x} und/oder τ_{V q} mit der Skalierungsfunktion κ skaliert ist, insbesondere die Skalierungsfunktion κ als Linearfaktor aufweist, und/oder der Dämpfungsanteil ${\tau }_{{\mathcal{R}}_x}$
  
  und/oder ${\tau }_{{\mathcal{R}}_q}$
  
  mit der Wurzel der Skalierungsfunktion κ skaliert ist, insbesondere die Wurzel der Skalierungsfunktion κ als Linearfaktor aufweist;
• - eine Skalierungsfunktion ρ in wenigstens einem Bereich der kinetischen Energie T bei Zunahme der kinetischen Energie T zu- und/oder bei zunehmender Abweichung zwischen Trigger- und Ist-Gelenkstellungen abnimmt und der Bremsanteil ${\tau }_{V_q^{*}}$
  
  mit der Skalierungsfunktion ρ skaliert ist, insbesondere die Skalierungsfunktion ρ als Linearfaktor aufweist; und/oder
• - ein Zeitvorschub der Soll-Pose x_c und/oder Soll-Gelenkstellungen q_c unterbrochen ist, solange eine Energiegröße L_C, die von der kinetischen Energie T des Roboters und einer Regeldifferenz zwischen einer Soll- und Ist-Größe des Roboters abhängt, ein vorgegebenes Energiebudget L_max übersteigt.

According to one embodiment of the present invention, a system, in particular hardware and / or software, in particular programming, is set up to carry out a method described here and / or has means for regulating the drives of the robot on the basis of target forces and / or torques τ _c , these target forces and / or torques τ _c having at least one of the following proportions:

• - a potential component τ _{V x} which depends on a derivative of a potential V _x according to a pose x of a robot-fixed reference, which _{increases in at least one area with increasing control difference between a target pose x c} and an actual pose x of this robot-fixed reference;
• - a damping component ${\tau }_{{\mathcal{R.}}_x},$
  
  that of a derivative of a dissipation function ${\mathcal{R.}}_x$
  
  depends on a speed ẋ of a robot-fixed reference, which increases with increasing speed of this robot-fixed reference in at least one area;
• - a potential component τ _{V q} , which depends on a derivative of a potential V _q according to joint positions q of the robot, which increases in at least one area _{with increasing control difference between target joint positions q c and actual joint positions q;}
• - a damping component ${\tau }_{{\mathcal{R.}}_q},$
  
  that of a derivative of a dissipation function ${\mathcal{R.}}_q$
  
  depends on joint speeds q̇ of the robot, which increases with increasing joint speeds in at least one range; and or
• - a braking component ${\tau }_{V_q^{*}},$
  
  that of a derivative of a potential $V_q^{*}$
  
  depends on the joint positions q of the robot, which increases with increasing deviation between trigger joint positions when a predetermined energy budget L _{max is} exceeded by a kinetic energy T of the robot and actual joint positions in at least one area, as long as the predetermined energy budget L _{max is} still exceeded;

whereby

• - a scaling function κ has a first value for a first value of an energy _{quantity L C} , which depends on the kinetic energy T of the robot and a control difference between a target and actual quantity of the robot, and a smaller value for a larger second value of the energy quantity has the second value, and the potential component τ _{V x} and / or τ _{V q} is scaled with the scaling function κ, in particular having the scaling function κ as a linear factor, and / or the damping component ${\tau }_{{\mathcal{R.}}_x}$
  
  and or ${\tau }_{{\mathcal{R.}}_q}$
  
  is scaled with the root of the scaling function κ, in particular has the root of the scaling function κ as a linear factor;
• A scaling function ρ in at least one range of the kinetic energy T increases with an increase in the kinetic energy T and / or decreases with an increasing deviation between the trigger and actual joint positions and the braking component ${\tau }_{V_q^{*}}$
  
  is scaled with the scaling function ρ, in particular has the scaling function ρ as a linear factor; and or
• - A time advance of the target pose x _c and / or target joint positions q _{c is} interrupted as long as an energy _{quantity L C} , which depends on the kinetic energy T of the robot and a control difference between a target and actual value of the robot, is a exceeds the specified energy budget L _max.

As explained in the introduction, the present invention is particularly advantageous when operating a robot in which a physical human-robot interaction is provided.

A means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a processing unit, in particular a microprocessor unit (CPU), graphics card (GPU), preferably a data or signal connected to a memory and / or bus system, in particular a digital processing unit ) or the like, and / or one or more programs or program modules. The processing unit can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of executing the methods described here, so that the processing unit can execute the steps of such methods and thus in particular can operate the robot. In one embodiment, a computer program product can have, in particular, a non-volatile storage medium for storing a program or with a program stored on it, with the execution of this program causing a system or a controller, in particular a computer, to generate a program described here To carry out a process or one or more of its steps.

In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially in an automated manner, in particular by the system or its means.

In one embodiment, the system has the robot.

• - (schnelle) Bewegungen im Nullraum redundanten Roboter werden automatisch reduziert;
• - Kollisionen können auch ohne externe Sensoren gehandhabt werden;
• - verschiedene Kontaktsituationen können einheitlich gehandhabt werden;
• - während eines Kontakts verhält sich der Roboter nachgiebig. Wenn er gestoßen wird, ergeben sich keine übermäßig (schnell)en Bewegungen. Nachdem eine Kontaktsituation beendet bzw. aufgelöst ist, arbeitet der Roboter eine vorgegebene Trajektorie automatisch weiter ab;
• - im Wesentlichen muss ein Anwender nur das Energiebudget L_max vorgeben, die anfänglichen Regelparameter adaptieren sich dann selbsttätig („auto-tuning“).

Embodiments of the present invention may have one or more of the following advantages:

• - (Fast) movements in the null space redundant robots are automatically reduced;
• - Collisions can also be handled without external sensors;
• - different contact situations can be handled uniformly;
• - The robot behaves compliantly during contact. When pushed, there will be no excessive (fast) movements. After a contact situation is ended or resolved, the robot automatically continues to work through a specified trajectory;
• - Essentially, a user only has to _{specify the energy budget L max} , the initial control parameters then adapt themselves automatically (“auto-tuning”).

der von einer Geschwindigkeit ẋ der roboterfesten Referenz abhängt; einen Potentialanteil τ_{V q} , der von einer Regeldifferenz zwischen Soll-Gelenkstellungen q_c und Ist-Gelenkstellungen q abhängt; einen Dämpfungsanteil ${\tau }_{{\mathcal{R}}_q},$

der von Gelenkgeschwindigkeiten q̇ des Roboters abhängt; und/oder einen Bremsanteil ${\tau }_{V_q^{*}},$

der von einer Abweichung zwischen Trigger-Gelenkstellungen bei Überschreiten eines vorgegebenen Energiebudgets L_max und Ist-Gelenkstellungen abhängt; wobei der Potentialanteil τ_{V x} und/oder τ_{V q} mit einer Skalierungsfunktion κ und/oder der Dämpfungsanteil ${\tau }_{{\mathcal{R}}_x}$

und/oder ${\tau }_{{\mathcal{R}}_q}$

mit der Wurzel der Skalierungsfunktion κ skaliert ist; der Bremsanteil ${\tau }_{V_q^{*}},$

mit einer Skalierungsfunktion p skaliert ist und/oder ein Zeitvorschub der Soll-Pose x_c und/oder Soll-Gelenkstellungen q_c unterbrochen ist, solange eine Energiegröße L_C ein vorgegebenes Energiebudget L_max übersteigt.In one embodiment of the present invention, to operate a robot that has several drives, these are _{controlled on the basis of target forces and / or torques τ c} , which have at least one of the following components: a potential component τ _{V x} which depends on a control difference between a target pose x _c and an actual pose x of a robot-fixed reference; a damping component ${\tau }_{{\mathcal{R.}}_x},$

which depends on a speed ẋ of the robot-fixed reference; a potential component τ _{V q} , which depends on a control difference between target joint positions q _c and actual joint positions q; a damping component ${\tau }_{{\mathcal{R.}}_q},$

which depends on joint speeds q̇ of the robot; and / or a braking component ${\tau }_{V_q^{*}},$

which depends on a deviation between trigger joint positions when a predetermined energy budget L _max and the actual joint positions are exceeded; where the potential component τ _{V x} and / or τ _{V q} with a scaling function κ and / or the damping component ${\tau }_{{\mathcal{R.}}_x}$

and or ${\tau }_{{\mathcal{R.}}_q}$

is scaled with the root of the scaling function κ; the braking portion ${\tau }_{V_q^{*}},$

is scaled with a scaling function p and / or a time advance of the target pose x _c and / or target joint positions q _{c is} interrupted as long as an energy quantity L _C exceeds a predetermined energy budget L _max.

• 1: ein System beim Betreiben eines Roboters nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Betreiben des Roboters nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. For this shows, partly schematically:

• 1 : a system in operating a robot according to an embodiment of the present invention; and
• 2 : a method of operating the robot according to an embodiment of the present invention.

1 shows a system operating a robot 10 according to an embodiment of the present invention.

A robot controller calculates 2 in each control cycle according to the equations explained above, setpoint torques τ _c , on the basis of which the robot or its drives 11th be managed.

For this purpose, the actual joint positions q = [q ₁ ... q ₇ ] ^T are recorded ( 2 : Step S10) and from this by means of forward kinematics the actual poses x of the TCP and by means of numerical differentiation the corresponding actual speeds q̇, ẋ are determined (S10).

${\tau }_{{\mathcal{R}}_q},$

der Bremsanteil ${\tau }_{V_q^{*}}$

sowie die Skalierungsfunktionen κ, ρ ermittelt und dabei gegebenenfalls der Zeitvorschub der Soll-Pose x_c und/oder Soll-Gelenkstellungen q_c unterbrochen.In step S20, the potential components τ _{V are derived from this x} , τ _{V q} , Attenuation components ${\tau }_{{\mathcal{R.}}_x},$

${\tau }_{{\mathcal{R.}}_q},$

the braking portion ${\tau }_{V_q^{*}}$

and the scaling functions κ, ρ are determined and, if necessary, the time advance of the target pose x _c and / or target joint positions q _{c is} interrupted.

In step S30, the target torques τ _{c are} determined from this and the robot or its drives are controlled on the basis of these.

List of reference symbols

10

Robot (arm)

11

drive

2

(Robot) control

TCP

Tool center point

Claims (7)

A method for operating a robot (10) which has several drives (11) for adjusting axes of the robot, the drives being _{controlled on the basis of target forces and / or torques τ c} which have at least one of the following components: Potential component τ _{V x} which depends on a derivative of a potential V _x according to a pose x of a robot-fixed reference, which _{increases in at least one area with increasing control difference between a target pose x c} and an actual pose x of this robot-fixed reference; - a damping component ${\tau }_{{\mathcal{R.}}_x},$

that of a derivative of a dissipation function ${\mathcal{R.}}_x$

depends on a speed ẋ of a robot-fixed reference, which increases with increasing speed of this robot-fixed reference in at least one area; - a potential component τ _{V q} , which depends on a derivative of a potential V _q according to joint positions q of the robot, which increases in at least one area _{with increasing control difference between target joint positions q c and actual joint positions q;} - a damping component ${\tau }_{{\mathcal{R.}}_q},$

that of a derivative of a dissipation function ${\mathcal{R.}}_q$

depends on joint speeds q̇ of the robot, which increases with increasing joint speeds in at least one range; and / or - a braking component ${\tau }_{V_q^{*}},$

that of a derivative of a potential $V_q^{*}$

depends on the joint positions q of the robot, which increases with increasing deviation between trigger joint positions when a predetermined energy budget L _{max is} exceeded by a kinetic energy T of the robot and actual joint positions in at least one area, as long as the predetermined energy budget L _{max is} still exceeded; where - a scaling function κ has a first value at a first value of an energy _{quantity L C} , which depends on the kinetic energy T of the robot and a control difference between a target and actual quantity of the robot, and at a larger second value of the energy quantity has a smaller second value, and the potential component τ _{V x} and / or τ _{V q} is scaled with the scaling function κ and / or the damping component ${\tau }_{{\mathcal{R.}}_x}$

and or ${\tau }_{{\mathcal{R.}}_q}$

is scaled with the root of the scaling function κ; A scaling function ρ in at least one range of the kinetic energy T increases with an increase in the kinetic energy T and / or decreases with an increasing deviation between the trigger and actual joint positions and the braking component ${\tau }_{V_q^{*}}$

is scaled with the scaling function ρ; and / or - a time advance of the target pose x _c and / or target joint positions q _{c is} interrupted as long as an energy _{quantity L C} that is derived from the kinetic energy T of the robot and a control difference between a target and actual value of the robot depends, a predetermined energy budget L _max exceeds, with a control difference between a target and actual size of the robot, the target size, the target pose and / or the target joint positions and the actual size, the actual pose and / or includes the actual joint positions. Procedure according to Claim 1 , characterized in that - the potential V _x depends on a predetermined stiffness matrix and / or in quadratic form on the control difference between the target and actual pose; - the dissipation function ${\mathcal{R.}}_x$

depends on a given resistance matrix and / or in quadratic form on the speed ẋ; - The potential V _q depends on a predetermined rigidity matrix and / or in quadratic form on the control difference between the target and actual joint positions; - the dissipation function ${\mathcal{R.}}_q$

depends on a given resistance matrix and / or in quadratic form on the joint speeds q̇; and / or - the potential component τ _{V x} and / or the damping component ${\tau }_{{\mathcal{R.}}_x}$

depends on the Jacobian matrix of the robot-fixed reference; Method according to one of the preceding claims, characterized in that the energy quantity L _C depends on the potential V _x and / or V _q. Method according to one of the preceding claims, characterized in that the scaling function κ - has a constant value in at least one area in which the energy quantity L _C does not exceed the energy budget L _max; - has a minimum value in at least one area in which the kinetic energy T _{exceeds the energy budget L max;} and / or - in at least one area in which the energy quantity L _C exceeds the energy budget L _max , decreases with an increase in the kinetic energy T, an increase in the potential V _x and / or an increase in the potential V _q. Method according to one of the preceding claims, characterized in that a physical human-robot interaction is provided during operation. System for operating a robot (10) which has several drives (11) for adjusting axes of the robot, the system for carrying out a method according to one of the preceding Claims is set up and / or has means (2) for regulating the drives on the basis of target forces and / or torques τ _c , which have at least one of the following components: a potential component τ _{V x} which depends on a derivative of a potential V _x according to a pose x of a robot-fixed reference, which _{increases in at least one area with increasing control difference between a target pose x c} and an actual pose x of this robot-fixed reference; - a damping component ${\tau }_{{\mathcal{R.}}_x},$

that of a derivative of a dissipation function ${\mathcal{R.}}_x$

depends on a speed ẋ of a robot-fixed reference, which increases with increasing speed of this robot-fixed reference in at least one area; - a potential component τ _{V q} , which depends on a derivative of a potential V _q according to joint positions q of the robot, which increases in at least one area _{with increasing control difference between target joint positions q c and actual joint positions q;} - a damping component ${\tau }_{{\mathcal{R.}}_q},$

that of a derivative of a dissipation function $${\mathcal{R.}}_q$$

depends on joint speeds q̇ of the robot, which increases with increasing joint speeds in at least one range; and / or - a braking component ${\tau }_{V_q^{*}},$

that of a derivative of a potential $V_q^{*}$

depends on the joint positions q of the robot, which increases with increasing deviation between trigger joint positions when a predetermined energy budget L _{max is} exceeded by a kinetic energy T of the robot and actual joint positions in at least one area, as long as the predetermined energy budget L _{max is} still exceeded; where - a scaling function κ has a first value at a first value of an energy _{quantity L C} , which depends on the kinetic energy T of the robot and a control difference between a target and actual quantity of the robot, and at a larger second value of the energy quantity has a smaller second value, and the potential component τ _{V x} and / or τ _{V q} is scaled with the scaling function κ and / or the damping component ${\tau }_{{\mathcal{R.}}_x}$

and or ${\tau }_{{\mathcal{R.}}_q}$

is scaled with the root of the scaling function κ; A scaling function ρ in at least one range of the kinetic energy T increases with an increase in the kinetic energy T and / or decreases with an increasing deviation between the trigger and actual joint positions and the braking component ${\tau }_{V_q^{*}}$

is scaled with the scaling function ρ; and / or - a time advance of the target pose x _c and / or target joint positions q _{c is} interrupted as long as an energy _{quantity L C} that is derived from the kinetic energy T of the robot and a control difference between a target and actual value of the robot depends, a predetermined energy budget L _max exceeds, with a control difference between a target and actual size of the robot, the target size, the target pose and / or the target joint positions and the actual size, the actual pose and / or includes the actual joint positions. Computer program product with a program code, which is stored on a medium readable by a computer, for carrying out a method according to one of the preceding Claims 1 until 5 .

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