CN210678714U - Robot system with mobile robot - Google Patents

Robot system with mobile robot Download PDF

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Publication number
CN210678714U
CN210678714U CN201790001308.5U CN201790001308U CN210678714U CN 210678714 U CN210678714 U CN 210678714U CN 201790001308 U CN201790001308 U CN 201790001308U CN 210678714 U CN210678714 U CN 210678714U
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China
Prior art keywords
contour
coupling
freedom
robot
profile
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CN201790001308.5U
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Chinese (zh)
Inventor
H·拉德里奇
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KUKA Deutschland GmbH
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KUKA Roboter GmbH
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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
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • G05B2219/39018—Inverse calibration, find exact joint angles for given location in world space
    • 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
    • G05B2219/39024—Calibration of manipulator
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50033—Align tool, tip with a calibration mask

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A robotic system having a mobile robot that includes a mobile platform, at least one robot arm, and a robot arm guided profile. The robotic system also has at least one mating profile and a controller. The controller includes: a pose device for determining a reference pose of the robot arm in a reference position of the mobile platform relative to the environment upon a coupling between the contour and the counterpart contour, the coupling blocking at least one degree of freedom of the contour relative to the environment; and for determining at least one measuring pose of the robot arm in a measuring position of the mobile platform relative to the environment upon a re-coupling between the profile and the counterpart profile, the re-coupling re-blocking the at least one degree of freedom; and an output device for outputting deviation information, the deviation information depending on a deviation between the reference posture and the at least one measurement posture, the output device outputting the deviation information through a user interface.

Description

Robot system with mobile robot
Technical Field
The utility model relates to a robot system with at least one mobile robot, this mobile robot have moving platform and at least one robot arm.
Background
It is known from the internal business practice that mobile robots with a mobile platform and a robot arm are temporarily used as a replacement device (Springer) in a certain location, in particular in different work cells, in different line locations, in order to provide additional (robot) work capacity, in particular variably when needed, or to reduce additional (robot) work capacity when not needed, or to use the robot in other locations.
SUMMERY OF THE UTILITY MODEL
The object of the present invention is to improve a robot system with at least one mobile robot having a mobile platform and at least one robot arm, in particular to improve the positioning of the mobile platform or the operation thereof.
The object of the invention is achieved by a robot system having the features of the invention. According to the present invention, a controller of a mobile robot includes: a pose device for determining a reference pose of the robot arm in a reference position of the mobile platform relative to the environment upon a coupling between the contour and the counterpart contour, the coupling blocking at least one degree of freedom of the contour relative to the environment; and for determining at least one measuring pose of the robot arm in a measuring position of the mobile platform relative to the environment upon a re-coupling between the profile and the counterpart profile, the re-coupling re-blocking the at least one degree of freedom; and an output device for outputting deviation information, the deviation information depending on a deviation between the reference posture and the at least one measured posture, the output device outputting the deviation information through a user interface and/or outputting the deviation information to the control device for actuating at least one drive of the platform and/or the robot arm for reducing the deviation; and/or outputting the deviation information to a measurement device for measuring a position of the mobile platform relative to the environment based on the deviation.
Optionally, the robot system has at least one mobile robot with a mobile platform, at least one robot arm arranged on the mobile platform and a profile guided by the robot arm.
In one embodiment, the mobile platform may be non-driven, or only passively, or externally moved, and may include, in particular, a cart having one or more non-driven (running or supporting) wheels. Accordingly, the mobile robot may be manually repositioned and made simpler and/or easier.
In a further embodiment, the mobile platform has one or more (motion) drives, in particular travel drives, in particular driven by electric motors, or the mobile platform can be actively, in particular automatically, moved, which can have in particular one or more driven (drive) wheels, chains or the like. In one embodiment, the mobile platform can be repositioned by its drive, in particular by motor drive, in particular by an electric motor, and thus advantageously repositioned with little effort, in one embodiment in particular remotely controlled and/or automatically, or be designed for this purpose.
In one embodiment, the robot arm has one or more, in particular at least four, in particular at least six, in particular at least seven joints, and in one embodiment also has a drive for moving or adjusting the joints, in particular hydraulically, pneumatically and/or motor-driven, in particular electric motor-driven. In one embodiment, three translational degrees of freedom and three rotational degrees of freedom of the contour of the robot arm guide relative to the in particular inertial or self-moving environment (of the robot system) can be achieved by means of at least six joints; with at least seven joints, a null space of multiple poses of the robot arm can be achieved with a fixed robot arm guided contour.
In one embodiment, the contour of the robot arm guidance is in particular rigidly or fixedly in position and orientation and/or releasably or non-releasably or permanently unbroken or fastenable on the robot arm, in particular on the distal end of the robot arm or the end facing away from the platform. In one embodiment, the contour is a robot-guided tool, in particular for fixing and/or machining a workpiece. It is hereby advantageous that, in addition to the positioning described here, tools, in particular machining tools or holding tools, in particular gripping tools, can be used.
Optionally, the robot system has at least one (first) counter contour which is in particular releasably and/or repeatedly couplable or coupled to a contour of the robot arm guide, such that the coupling between the contour and the counter contour blocks one or more degrees of freedom of the contour relative to the environment in a unidirectional or unidirectional manner and/or blocks one or more degrees of freedom of the contour relative to the environment in a bidirectional or bidirectional manner, in particular in an embodiment at least five, in particular six degrees of freedom of the contour relative to the environment in a bidirectional manner, or is designed for this purpose.
In the present invention, the two-way blocking of the profile freedom is understood in particular to mean: with or without (movement) play, the profile is fixed (bilaterally or contralaterally) in both directions of this degree of freedom. In particular, in one embodiment, the profile that is blocked bidirectionally in a translational degree of freedom or in a cartesian (in particular environment-specific spatial) sliding axis neither moves in one direction nor in the other opposite direction in the degree of freedom or along the sliding axis; a contour which is blocked bidirectionally in a rotational degree of freedom or about an axis of rotation (in particular an environment-specific space) neither rotates in one direction nor in the other, opposite direction, in this degree of freedom or about this axis.
In the present invention, in particular, the one-way blocking of the profile freedom is generally understood to mean: the limiting profile moves (unilaterally) in only one of the two directions of the degree of freedom. In particular, in one embodiment, a profile that is unidirectionally blocked in a translational degree of freedom or in a cartesian (in particular environment-specific space) sliding axis moves in the degree of freedom or along the sliding axis only (still) in one direction and not in the other, opposite direction; a contour which is blocked unidirectionally in a rotational degree of freedom or about an axis of rotation (in particular an environment-specific space) rotates in this degree of freedom or about this axis only (still) in one direction of rotation and not in the other, opposite direction of rotation.
Optionally, the method for positioning the mobile platform comprises the following steps:
-positioning the mobile platform in a reference position relative to the environment;
-enabling, in particular carrying out or completing, a coupling between the profile and the counterpart profile, which (one-way or two-way) blocks one or more degrees of freedom of the profile with respect to the environment, or which enables one or more degrees of freedom of the profile with respect to the environment to be blocked (one-way or two-way through the coupling between the profile and the counterpart profile);
-determining a reference pose of the robot arm at or with the coupling (completion);
-releasing the coupling between the profile and the counter-profile;
- (subsequently) repositioning the mobile platform in a measurement position of the mobile platform relative to the environment;
-again enabling, in particular performing or closing, a coupling between the profile and the counterpart profile, which again (unidirectionally or bidirectionally) blocks one or more degrees of freedom of the profile relative to the environment, or so that one or more degrees of freedom of the profile relative to the environment (through said new coupling between the profile and the counterpart profile) is (unidirectionally or bidirectionally) blocked again; and are
At or with (re- (complete) coupling, one or more measurement poses of the robot arm are determined, in particular a (respective) current measurement pose of the robot arm is repeatedly determined.
Thus, in one embodiment, the contour of the mobile robot, which is guided with its robot arm, in each case in the reference position and in the measurement position of its mobile platform, is "docked" on a, in particular, environment-specific pairing contour, so that an environment-specific fixed point is known.
Optionally, the method comprises the steps of: the output, in particular the repeated and/or visual, audible and/or tactile output, in particular a (respective) current deviation information, in particular a movement information, which is dependent on the deviation between the reference posture and the one or more measurement postures, in particular on the current deviation between the reference posture and the (respective) current measurement posture, in particular the direction and/or path for reducing, in particular minimizing, the deviation, in particular the reporting to the operator, and/or for reducing, in particular minimizing, the deviation, in particular via a, in particular optical, audible and/or tactile, user interface.
Accordingly, in one embodiment, navigation assistance can be provided, in particular updated one or more times, in particular periodically, in order to (re) position the mobile platform in a (measured) position which corresponds at least substantially (again) to the reference position, in particular manually or by remote control.
Additionally or alternatively, the method comprises the steps of: the drive or drives of the mobile platform for reducing, in particular minimizing, deviations, are actuated, in particular by outputting, in particular repeatedly outputting, in particular (corresponding) current deviation information, in particular motion information, which deviation information depends on the deviation between the reference posture and the measurement posture or postures, in particular on the current deviation between the reference posture and the (corresponding) current measurement posture, in particular the direction and/or path for reducing, in particular minimizing, deviations is/are sent to a control device, which actuates the drive or drives (based on this information) for reducing, in particular minimizing, deviations, in order to reduce, in particular minimize, deviations, or is designed for this purpose.
Accordingly, in one embodiment, the mobile platform can be (repeatedly) positioned, in particular by the control device, on the basis of said deviation, by its drive, in particular by a motor, and/or automatically and/or progressively, in a (measurement) position which at least substantially corresponds to said reference position.
Additionally or alternatively, the method comprises the steps of: one or more drives of the robot arm for reducing the deviation are actuated, in particular by outputting, in particular repeatedly outputting, in particular (corresponding) current deviation information, in particular motion information, which depends on the deviation between the reference posture and the one or more measurement postures, in particular on the (corresponding) current deviation between the reference posture and the current measurement posture, in particular directions and/or paths for reducing, in particular minimizing, the deviation are sent to a control device, which actuates the one or more drives (based on the information) for reducing, in particular minimizing, the deviation in order to reduce, in particular minimize, the deviation, or is designed for this purpose.
Accordingly, in one embodiment, the mobile platform can be (re) positioned in a (measuring) position at least substantially corresponding to the reference position by the robot arm or its drive, in particular a motor drive, and/or automatically and/or incrementally.
In one embodiment, by (re) positioning the mobile platform to a (measurement) position at least substantially corresponding to the reference position, the mobile robot, in particular the robot arm thereof, can advantageously execute a working program which is adapted to the reference position, in particular programmed, in particular taught, with respect to the reference position by means of the mobile platform.
Additionally or alternatively, the method comprises the steps of: the position of the mobile platform relative to the environment is measured on the basis of the deviation, in particular by outputting, in particular repeatedly outputting, in particular current deviation information, in particular calibration information, which depends on the deviation between the reference posture and the one or more measurement postures, in particular on the current deviation between the reference posture and the (corresponding) current measurement posture, in particular sending this deviation information to the measurement device.
Hereby, in an embodiment, the measurement of the position of the mobile platform, in particular its accuracy and/or convergence, may be improved, in particular by determining an initial value of the measurement based on the deviation.
Optionally, the robotic system is designed to perform the methods described herein; and/or having a controller designed for carrying out the method described herein; and/or having:
a pose device for determining a reference pose of the robot arm in a reference position of the mobile platform relative to the environment at or with (complete) coupling between the contour and the counterpart contour, the coupling (unidirectionally or bidirectionally) blocking one or more degrees of freedom of the contour relative to the environment; and for determining, at or following (again (complete)) the articulation, one or more measurement poses of the robot arm in the measurement position of the mobile platform relative to the environment, in particular repeatedly determining a (corresponding) current measurement pose of the robot arm, the articulation again (unidirectionally or bidirectionally) blocking one or more degrees of freedom of the contour relative to the environment; and
output means for transmitting in particular (corresponding) current deviation information, in particular motion information and/or calibration information, which depends on a deviation between the reference posture and the one or more measurement postures, in particular on a current deviation between the reference posture and the current measurement posture, in particular repeatedly and/or visually, audibly and/or tactilely to an operator or is designed for this purpose, and/or to the control means, in order to actuate one or more drives of the mobile platform and/or of the robot arm, in particular to reduce, in particular to minimize, or to reduce, in particular to minimize, the current deviation, in particular incrementally, or to be designed for this purpose, and/or to the measurement means, in order to measure, in particular, the current position of the mobile platform relative to the environment based on, in particular, the current deviation, or designed for this purpose.
In one embodiment, the robot system has one or more further counter contours which are in particular releasably and/or repeatedly couplable or coupled to the contour of the robot arm guide (in each case, in particular one after the other) in such a way that the coupling between the contour and the further counter contour (in each case) blocks one or more degrees of freedom of the contour relative to the environment in a unidirectional manner and/or blocks one or more degrees of freedom of the contour relative to the environment in a bidirectional manner, in particular in one embodiment at least five, in particular six degrees of freedom of the contour relative to the environment in a bidirectional manner, or are designed for this purpose.
In one embodiment, in the reference position and/or the measuring position, after the coupling between the contour and the counter contour has been released, the coupling is established, in particular in succession, between the contour and one or more further counter contours (respectively), and a further reference position of the robot arm and a further measuring position of the robot arm (respectively in the measuring position) are determined in a similar manner (in the reference position), wherein the deviation information also depends on the deviation between the further measuring position and the further reference position or the deviations between the further measuring positions and the reference position.
Accordingly, the gesture device is designed for: determining a further reference pose of the robot arm (respectively) at a reference position of the mobile platform relative to the environment, in particular in a sequential coupling between the profile and one or more further counterpart profiles; and upon a renewed coupling between the profile and the respective further counter-profile, at least one further measuring pose of the robot arm is determined in the measuring position of the mobile platform relative to the environment, and the output device is designed for outputting deviation information, which (also) depends on a deviation between the (corresponding) further measuring pose and the further reference pose.
In one embodiment, therefore, the robot can be progressively "docked" on a plurality of mating profiles, both at the reference position and at the measurement position, wherein the deviation between the measurement position and the reference position is determined on the basis of the deviation between the respective measurement position and the reference position, and thus the accuracy can be increased in one embodiment.
In one embodiment, the coupling between the contour and the counterpart contour and/or the coupling between the contour and the further counterpart contour (respectively) in the measuring and/or reference position (respectively) positively one-way blocks (at most one) translational degree of freedom, in particular at most one translational degree of freedom, or at least two translational degrees of freedom, in particular (all) three translational degrees of freedom, or at most two translational degrees of freedom, and/or at least one rotational degree of freedom, in particular at most one rotational degree of freedom, or at most two rotational degrees of freedom, and/or (respectively) positively two-way blocks (at least one) translational degree of freedom, in particular at most one translational degree of freedom, in particular in relation to the environment, or at least two translational degrees of freedom, in particular (all) three translational degrees of freedom, or at most two translational degrees of freedom, and/or at least one rotational degree of freedom, in particular at most one rotational degree of freedom, or at least two rotational degrees of freedom, in particular three rotational degrees of freedom, or at most two rotational degrees of freedom, or designed for this purpose. Hereby, in an embodiment the profile can be better secured and/or the coupling can be better facilitated and/or released.
In one embodiment, in the coupling between the contour and in particular the first or the first mating contour and/or a further mating contour, one or more drives of the robot arm are (respectively) controlled, in particular adjusted, in such a way that the contour exerts (contact) forces on the respective mating contour in one or more directions in which it is blocked in one or more degrees of freedom that are positively and unidirectionally blocked, in particular with (respectively) at least one set minimum value and/or at most one set maximum value. Hereby, it is also possible to ensure contact between the profile and the counter-profile in this degree of freedom, or to block this degree of freedom (respectively) in both directions.
Accordingly, in one embodiment, the control device has a force device for actuating one or more drives of the robot arm in order to exert a (contact) force on the mating contour and/or the further mating contour by the contour in the direction in which it is blocked in one or more degrees of freedom that are blocked in a form-fitting, unidirectional manner, in particular adjusted to a value that is in particular set.
In one embodiment, the (contact) force is determined on the basis of a force, in particular a drive force, on, in particular in, a joint of the robot arm, in particular by means of a sensor arranged on the joint, in particular a drive, of the robot arm and/or by means of at least one sensor arranged on a contour of the robot arm guide, in particular between the contour and an interface, in particular a tool flange, on which the contour is arranged, of the robot arm. Accordingly, in one embodiment, the robot, in particular the control unit thereof, in particular the force device of the control unit, has one or more sensors for determining, in particular detecting, forces on, in particular in, joints of the robot arm, in particular driving forces and/or forces between the contour and the interface of the robot arm, in particular the tool flange on which the contour is arranged. In the present invention, force is generally understood to be an anti-parallel couple or torque.
Thus, in one embodiment, the facilitation, in particular the execution or the completion of the coupling may comprise the application of a contact force in one or more degrees of freedom that are positively unidirectionally blocked in the blocking direction thereof. Accordingly, in one embodiment, the coupling between the contour and the counter contour and/or the coupling between the contour and a further counter contour (each) in the measuring position and/or the reference position (respectively) is adjusted technically in one-way blocking of (each) at least one translational degree of freedom, in particular at most one translational degree of freedom or at least two translational degrees of freedom, in particular (all) three translational degrees of freedom or at most two translational degrees of freedom, and/or at least one rotational degree of freedom, in particular at most one rotational degree of freedom or at least two rotational degrees of freedom, in particular three rotational degrees of freedom or at most two rotational degrees of freedom, in particular one or more degrees of freedom which are blocked in one-way in a form-fitting manner, of the contour relative to the environment, or is designed for this purpose. Hereby, in an embodiment, the coupling may be facilitated and/or released better.
In one embodiment, the contour of the robot, in particular of its robot arm or its drive or (here) of the robot arm guide, is flexibly or adjustably adjusted in one or more, in particular all, degrees of freedom that are form-fittingly bidirectionally blockable or blocked bidirectionally by the coupling between the contour and the corresponding counter contour, in such a way that the contour of the robot, in particular of its robot arm or robot arm guide, is flexible or displaceable in these degrees of freedom, in particular at least at or for the purpose of facilitating, in particular carrying out or completing, the corresponding coupling and/or at the (complete) coupling.
Accordingly, in one embodiment, coupling and/or positioning of the platform may be better facilitated.
Accordingly, in one embodiment, the control device has an adjusting device for flexibly adjusting the contour of the robot, in particular of its robot arm or its drive or (thus) of the robot arm, in at least one degree of freedom which is blockable, in particular blocked, bidirectionally in a form-fitting manner by the coupling between the contour and the counter-contour and/or the coupling between the contour and the further counter-contour.
In one embodiment, the mating contour and/or the further mating contour (respectively) are (respectively) connected releasably or non-releasably to the environment without breakage. In one embodiment, the stability of the position of the respective counter-contour relative to the environment can be increased by a non-breakable, in particular material-fit or integral connection, in one embodiment by a non-breakable, in particular friction-fit and/or form-fit connection, the respective counter-contour can be removed when not required and/or used at different positions relative to the environment.
In addition or alternatively, the mating contour and/or the further mating contour (respectively) has one or more recesses, in particular non-rotationally symmetrical, for introducing, in particular complementary contours and/or one or more projections, in particular non-rotationally symmetrical, for introducing, in particular complementary contours and/or has a locking device, in particular along the introduction direction, for positively (bi-directionally) blocking at least one (introduction) degree of freedom, which (together) contribute to the coupling between the contour and the mating contour or are designed for this purpose. Hereby, in an embodiment, the coupling may be facilitated and/or released better.
The pose of the robot arm may in particular comprise or may define or be defined by the position of one or more, in particular all, joints of the robot arm in general. In one embodiment, the reference posture and/or the measurement posture (respectively) is determined by means of a joint sensor, in particular a joint position sensor and/or a joint velocity sensor, in particular a joint angle sensor, of the robot arm and/or is stored after the determination, in particular at least non-volatile storage of the reference posture.
In one embodiment, the mobile platform is initially positioned repeatedly (initially or initially) at the measuring positions on the basis of the same target position, and in one embodiment the mobile platform is moved, in particular manually or automatically, on the basis of deviation information, in particular motion information, in order to reduce the deviation between the target position and the corresponding (initially) measuring position, wherein the mobile platform is intermediately positioned between the two initially measuring positions independently of the target position, in order to carry out a further work process, in particular by a robot. In addition or alternatively, in one embodiment, the mobile platform is repeatedly positioned, in particular at its corresponding and/or initial measuring position, on the basis of different target positions in order to carry out a further work process, in particular by a robot, and in one development the mobile platform is moved, in particular manually or automatically, on the basis of deviation information, in particular motion information, in order to reduce the deviation between the corresponding target position and the (initial) measuring position. In one embodiment, the mobile robot can be used particularly advantageously as an alternative device.
The device according to the invention can be embodied in hardware and/or software, in particular with: a processing unit, in particular a digital processing unit, in particular a microprocessor unit (CPU), which is preferably connected to a memory system and/or a bus system in a data or signal manner; and/or one or more programs or program modules. To this end, the CPU may be designed to: executing instructions implemented as a program stored in a storage system; detect input signals from the data bus and/or send output signals to the data bus. The storage system may have one or more, in particular different, storage media, in particular optical, magnetic, solid and/or other non-volatile media. The program may be such that: which can embody or carry out the method described herein, so that the CPU can carry out the steps of the method and can thereby in particular control, in particular adjust and/or measure, the mobile robot, in particular the platform and/or the robot arm thereof.
In one embodiment, one or more, in particular all, steps of the method are performed completely or partially automatically, in particular by a controller or a device thereof.
Drawings
Other advantages and features are given by the embodiments. To this end, the following are shown schematically:
fig. 1(a) and 1 (b): a robotic system according to an embodiment;
FIG. 2: cross-sectional views through the profile and mating profile of the robotic system along line II-II in fig. 1(a) and 1 (b);
FIG. 3: a method for positioning a mobile platform of a robotic system according to one embodiment.
Detailed Description
Fig. 1(a) and 1(b) show a robot system according to an embodiment with a mobile robot with a mobile platform 11, a robot arm 12 and a robot arm guided square profile 13 (see also fig. 2).
Furthermore, the robot system has a first environment-specific pairing profile 21, a second environment-specific pairing profile 22 and a controller 30.
The identically constructed counter-profiles 21, 22 each have a non-rotationally symmetrical recess for the introduction of the profile 13 complementary thereto, as is shown in particular in fig. 1(a) and in the combination of fig. 1(b) and 2.
By introducing the contour 13 into the recess or after introducing the contour 13 into the recess, the coupling between the contour 13 and the counterpart contour 21 or 22 positively locks out both all three rotational degrees of freedom of the contour 13 relative to the environment (in particular a rotation about the vertical and horizontal lines in fig. 1(a) and 1(b), fig. 2) and the degrees of freedom of vertical translation in fig. 1(a) and 1(b), fig. 2 and the degrees of freedom of horizontal translation in fig. 2) and positively locks out the degrees of freedom of horizontal translation of the contour 13 relative to the environment (to the right in fig. 1(a) and 1(b) in fig. 1(a) and 1 (b).
To use the mobile robot as an alternative device, optionally in step S10 (see fig. 3), its mobile platform is first positioned in a reference position relative to the environment as shown in fig. 1(a) and a coupling between the profile 13 and the first counterpart profile 21 is facilitated (fig. 3: step S20).
To this end or in accordance therewith, the robot arm 12 is flexibly adjusted with respect to three rotational degrees of freedom, fig. 1(a) and 1(b) and the vertical translational degree of freedom in fig. 2 and the horizontal translational degree of freedom in fig. 2, and the contour 13 guided by the robot arm is introduced into the recess of the counter-contour 21.
The controller 30 adjusts the joint drive of the robot arm so as to exert, in the direction of the horizontal translational degree of freedom in fig. 1(a) and 1(b) blocked by the form fit (to the right in fig. 1(a) and 1(b)), by means of the profile 13, on the first mating profile 21 a contact force between a minimum value set to ensure contact between the profile 13 and the mating profile 21 and a maximum value set to ensure that the platform 11 does not move as a result. To this end, the controller 30 may determine the contact force based on the joint force and/or a sensor in the form of a force sensor 15 between the contour 13 and the tool flange of the robot arm 12.
Subsequently in step S30, the controller 30 determines the position of the joint of the robot arm 12 at the completion of the articulation by means of the joint sensor, and thus determines its reference posture at the time of the articulation.
Subsequently, the coupling between the profile 13 and the first counter-profile 21 is released and the mobile robot is removed, for example for use in other positions (fig. 3: step S40).
Now, if the robot is to be used again in the same reference position and the work program matched to the reference position is to be executed, the mobile platform is positioned in a measuring position on the basis of the reference position as target position (fig. 3: step S50) and the coupling between the profile 3 and the first counterpart profile 21 is again brought about in the same manner as described above (fig. 3: step S60).
This is illustrated in fig. 1(b), where the (initial) measured position of the platform 12 is shown in dashed lines.
Then, in step S70, the controller 30 determines the position of the joint of the robot arm 12 by means of the joint sensor when the articulation is completed again, and thereby determines the measurement posture thereof when the articulation is completed again.
As can be appreciated by combining fig. 1(a) and 1 (b): the reference posture (fig. 1(a)) and the measurement posture (fig. 1(b)) are deviated from each other. However, since the position and orientation of the robot arm guided profile 13 relative to the environment is made the same by the coupling between the profile 13 and the counter-profile 21, it is possible to implement the transformation or the deviation between the reference and measurement poses determined by them, depending on the different said poses or by their determined transformation between the platform-specific coordinate system P and the profile-specific coordinate system K:
T(PM，PR)＝T(K，PR)·T(PM，K)，
wherein, T (P)MK) is the transformation from the platform-specific coordinate system P to the contour-specific coordinate system K in the measurement pose; t (K, P)R) Is a transformation from the contour-specific coordinate system K to the platform-specific coordinate system P in the reference pose; and T (P)M，PR) From a platform-specific coordinate system P in the measuring position into the reference positionA transformation of the platform-specific coordinate system P, which describes the deviation.
Accordingly, the controller 30 determines a deviation between the determined reference posture and the measurement posture based on them, and outputs motion information minimizing the deviation in step S80.
To this end, in the embodiment shown in fig. 1(b), the controller visually outputs motion information through the user interface 31 in the form of a directional arrow indicating, in its direction, the direction in which the platform 11 is to be moved in order to minimize the deviation, and indicating, in its magnitude, the distance by which the deviation is to be minimized.
In an alternative embodiment, the control unit actuates the drive or travel drive 14 of the platform 11 in step S80 in order to minimize the deviation. In a further alternative solution, in step S80, the controller actuates the joint drive of the robot arm 12, so that it moves the platform 11 accordingly, for which purpose in one variant the contour 12 is locked in the first counter contour 21 after introduction, and the robot arm is also flexibly adjusted in this degree of freedom, so that the robot arm 12 can also pull the platform 11 to the right in fig. 1(a) and 1(b) without slipping out of the recess.
If the position of the mobile platform relative to the environment is to be measured, an initial value for the measurement is determined based on the (remaining) deviation after or instead of said manually or automatically minimizing the deviation in step S90.
In one variant, in the reference position of the platform 11 (see fig. 1(a)), the coupling between the profile 13 and the first counter-profile 21 is released after the measurement pose is determined, and then a similar coupling is facilitated between the profile 13 and the second counter-profile 22, where the robot arm guided profile 13 now engages into the recess of the counter-profile 22.
Then, the controller 30 determines the position of the joint of the robot arm 12 by means of the joint sensor at the time of completion of the joint, and thus determines another reference posture at the time of the joint.
Subsequently, the coupling between the profile 13 and the second counter-profile 22 is released and the mobile robot is removed, for example for use in other locations.
If the robot is now to be used again in this reference position and a working program matched to this reference position is to be carried out, the mobile platform 11 is positioned in the initial measuring position on the basis of this reference position as target position and the coupling between the contour 13 and the first counter-contour 21 is again brought about in the same manner as described above.
Then, the controller 30 determines the position of the joint of the robot arm 2 by means of the joint sensor when the coupling is completed again, and thereby determines the measurement posture thereof when the coupling is completed again.
After the measurement position has been established, the coupling between the contour 13 and the first counter-contour 21 is released and then the coupling between the contour 13 and the second counter-contour 22 is brought about, wherein the robot arm guided contour 13 now engages into the recess of the counter-contour 22.
The controller 30 then determines the position of the joint of the robot arm 12 when the coupling is completed again by means of the joint sensor and thus determines its other measurement position at the time of the coupling again.
From the two pairs of measurement and reference postures or further measurement and reference postures, respectively, a single deviation can be determined and the movement information can be determined based on the average of the two deviations.
Additionally or alternatively, in a variant, the controller 30 may determine the respective current measurement posture from the motion information, in particular periodically, during the movement of the platform 11 and update the motion information accordingly, in particular by way of, for example, an arabic number (for example "0"), a further symbol or pictogram (for example
Figure DEST_PATH_GDA0002422742910000131
) Etc. instead of the directional arrows in the user interface 31, signals are sent to the (initial) measuring position within the framework of a set accuracy or tolerance, or the platform 11 is driven into the target position or into an initial reference position corresponding to the target position by means of an adjustment.
While exemplary embodiments have been described in the foregoing description, it should be noted that many variations are possible. Thus, a reference pose and one or more measurement poses, respectively, may also be determined based on further target positions, and the mobile robot may be used alternately on different target positions or reference positions.
It should also be noted that the exemplary embodiments are only examples, and should not be construed as limiting the scope, applicability, or configuration in any way. Rather, the foregoing description will enable one skilled in the art to practice the teachings of the conversion to at least one exemplary embodiment, wherein various changes, particularly in matters of function and arrangement of parts described herein may be made without departing from the scope of the present invention, such as may be found in the claims and the equivalents thereof.
List of reference numerals
11 moving platform
12 robot arm
13 profile of robot arm guidance
14 travel drive
15 force sensor
21 first mating profile
22 second/further mating profile
30 controller
31 user interface.

Claims (8)

1. A robotic system having:
-at least one mobile robot, said mobile robot comprising:
-a mobile platform (11),
-at least one robot arm (12),
-a contour (13) of a robot arm guide,
-at least one mating profile (21); and
-a controller (30), characterized in that it comprises:
-attitude means for determining a reference attitude of said robot arm (12) in a reference position of said mobile platform (11) with respect to the environment, upon coupling between said profile (13) and said counter-profile (21), which coupling blocks at least one degree of freedom of said profile with respect to the environment; and for determining at least one measuring attitude of the robot arm (12) in a measuring position of the mobile platform (11) relative to the environment upon a re-coupling between the profile (13) and the counter-profile (21), which re-coupling blocks the at least one degree of freedom, and
-output means for outputting deviation information depending on a deviation between the reference posture and the at least one measurement posture, the output means
-outputting the deviation information through a user interface (31); and/or
-outputting said deviation information to a control device for actuating at least one drive (14) of said mobile platform (11) and/or said robot arm (12) to reduce the deviation; and/or
-outputting the deviation information to a measuring device for measuring the position of the mobile platform relative to the environment based on the deviation.
2. Robot system according to claim 1, characterized in that the robot system comprises at least one further counter contour (22).
3. Robot system according to claim 2, characterized in that the coupling between the contour (13) and the counter-contour (21) and/or the coupling between the contour (13) and the further counter-contour (22) in at least one pose positively or negatively blocks at least one translational degree of freedom, and/or at least one rotational degree of freedom of the contour relative to the environment.
4. Robot system according to claim 2, characterized in that the controller (30) has a force device for actuating at least one drive of the robot arm in order to exert a force on the mating contour (21) and/or the further mating contour (22) by the contour (13) in the direction in which it is blocked in at least one degree of freedom that is positively or unidirectionally blocked by a coupling.
5. The robotic system as claimed in claim 4, wherein the application of force is an adjustment of force to a set value.
6. Robot system according to claim 2, characterized in that the controller (30) has an adjusting device for flexibly adjusting the robot in at least one degree of freedom which can be blocked form-fittingly bi-directionally or bi-directionally by a coupling between the contour (13) and the counter-contour (21) and/or a coupling between the contour (13) and the further counter-contour (22).
7. Robot system according to any of the claims 2 to 6, characterized in that the counter contour (21) and/or the further counter contour (22) has: at least one non-rotationally symmetrical recess for introducing, in particular, a complementary contour; and/or at least one non-rotationally symmetrical projection for introduction into, in particular, a complementary contour.
8. Robot system according to any of the claims 2 to 6, characterized in that the counter contour (21) and/or the further counter contour (22) has locking means.
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