DE102019124720B3 - Online conformity analysis and conformity marking for robots - Google Patents

Abstract

The invention relates to a robot manipulator (1), connected to an output unit (5) and to a computing unit (7), with a requirements interface (11) for providing conformity requirements, an information interface (13) for providing system properties and a task interface (15) is designed to provide a task, the computing unit (7) being designed to carry out a situation analysis on the basis of the task, to determine a solution for carrying out the task on the basis of a comparison of the conformity requirements with the residual risk, documentation on the basis of the task and / or to generate the solution and to transmit the documentation together with a signal for outputting a conformity mark to the output unit (5), and to control the robot limbs and / or the end effector (3) to carry out the task according to the solution.

Description

The invention relates to a robot manipulator with controllable robot members and / or with a controllable end effector for performing a task, as well as a method for performing a task by a robot manipulator with controllable robot members and / or with a controllable end effector.

Robots with a wide variety of applications are known in the prior art.

So affects the DE 10 2017 106 293 A1 a robot comprising: a network interface; a microprocessor; wherein the robot is configurable to perform a customer service task including performing a transaction; the microprocessor operates the robot in a first mode including an uncontrolled mode or a controlled mode; the microprocessor communicates data comprising at least one operating parameter to a third party via the network interface; the microprocessor, after receiving a signal via the network interface indicating that the third party is receiving the data, operates the robot in controlled mode; the microprocessor, after not receiving the signal indicating that the third party is receiving the data, operates the robot in uncontrolled mode; and wherein the process is an uncontrolled process while the robot is in the uncontrolled mode and is a controlled process while the robot is in the controlled mode.

The DE 10 2016 206 480 B4 also relates to a method for testing the security properties of a manipulator, in particular for HRC operation, the method having the following steps: a) providing a predefined pressure threshold value for a predefined reference area size, b) operating a manipulator to be tested for pressing a part of the manipulator against a pressure measurement surface in order to acquire pressure measurement data of a two-dimensional pressure distribution; c) Acquiring pressure measurement data of the two-dimensional pressure distribution which are above the pressure threshold value; d) determining areas in which the pressure measurement data acquired in step c) are above a predefined reference density; e) determining whether the areas determined in step d) exceed the reference area size; f) if it was determined in step e) that no area exceeds the reference area size: reducing the pressure threshold value and repeating steps c) to f).

The post-published DE 11 2016 001 831 B4 relates to a method for controlling / regulating a robot joint driven by means of an electric motor.

The DE 10 2015 200 355 B3 relates to a medical robot-like device with collision control comprising a kinematic chain, which kinematic chain has at least one stand means, at least one joint means and an end effector that can be positioned by means of at least one positioning means, and comprising a computing and control means for controlling the at least one positioning means

The DE 20 2014 010 054 U1 relates to a safety system for use with a robot, and in particular with a lightweight robot, which is controlled on the basis of path planning in a human-robot collaboration (= HRC) environment, the safety system being set up local and temporal information from path planning to the HRC environment to signal.

The AT 514 345 B1 Finally, relates to a method for safety monitoring of a joint of serial kinematics that performs tasks under the control of a controller, with a current state variable of the joint, such as the absolute position or its derivatives according to time, being determined cyclically and with a configurable one for safety monitoring from the current axis position of the joint Limit value is compared.

To ensure the operational safety of robot manipulators, it is necessary in many countries around the world for the manufacturer or operator to limit the risk of an accident by means of specified conformity requirements. This is used to ensure safety when operating the robot manipulator as a machine with respect to the environment and in particular the work safety of people working with the robot manipulator or those in the vicinity of the robot manipulator. An example of such conformity markings is the CE mark, which is commonly used in Europe and which can be attached to a product by the manufacturer to declare that the product meets the CE requirements. Such a declaration of conformity is typically statically related to a product. It is therefore the object of the invention to ensure the safety of the operation of a robot manipulator adapted to the current circumstances, and thus to improve the safety during the operation of the robot manipulator and to make the operation of the robot manipulator more flexible.

The invention results from the features of the independent claims. The dependent claims relate to advantageous developments and refinements.

• · die Anforderungsschnittstelle zum Bereitstellen von Konformitätsanforderungen an die Recheneinheit ausgeführt ist,
• · die Informationsschnittstelle zum Bereitstellen von Systemeigenschaften des Robotermanipulators an die Recheneinheit ausgeführt ist, und
• · die Aufgabenschnittstelle zum Bereitstellen einer Aufgabe ausgeführt ist, und wobei die Recheneinheit dazu ausgeführt ist,
• - eine Situationsanalyse auf Basis der Aufgabe durchzuführen,
• - eine Lösung zum Ausführen der Aufgabe auf Basis einer Risikoanalyse zu ermitteln, wobei die Lösung Maßnahmen zur Senkung des inhärenten Risikos bei der Ausführung der Aufgabe auf ein Residualrisiko aufweist und die Risikoanalyse auf einem Vergleich der Konformitätsanforderungen mit dem Residualrisiko abhängig von den Systemeigenschaften und von der Situationsanalyse basiert,
• - eine Dokumentation auf Basis der Systemeigenschaften und auf Basis der Aufgabe und/ oder der Lösung zu erzeugen und die Dokumentation zusammen mit einem Signal zum Ausgeben eines Konformitätskennzeichens an die Ausgabeeinheit zu übermitteln, jeweils wenn die Lösung die Konformitätsanforderungen erfüllt, und
• - die Roboterglieder und/oder den Endeffektor zum Ausführen der Aufgabe gemäß der Lösung anzusteuern.

A first aspect of the invention relates to a robot manipulator with controllable robot members and / or with a controllable end effector for performing a task, the robot manipulator being connected to an output unit and to a computing unit, the computing unit having a request interface and an information interface and a task interface , in which

• The requirements interface is designed to provide conformity requirements to the processing unit,
• The information interface is designed to provide system properties of the robot manipulator to the processing unit, and
• The task interface is designed to provide a task, and the processing unit is designed to
• - carry out a situation analysis based on the task,
• - To determine a solution for carrying out the task on the basis of a risk analysis, the solution having measures to reduce the inherent risk when carrying out the task to a residual risk and the risk analysis based on a comparison of the conformity requirements with the residual risk depending on the system properties and on the Situation analysis based,
• - to generate documentation based on the system properties and based on the task and / or the solution and to transmit the documentation to the output unit together with a signal for outputting a conformity mark, in each case when the solution meets the conformity requirements, and
• - to control the robot limbs and / or the end effector to carry out the task according to the solution.

The robot manipulator has, in particular, a robot arm and the robot arm has a multiplicity of robot members connected to one another by joints. Electric motors with gears are preferably arranged at the joints in order to move the robot limbs against one another. The end effector is preferably also supplied with electrical energy, wherein the end effector can be a mechanical end effector such as a gripper, can have a welding device, or can have other components for processing a component or for sensory detection of an object.

The computing unit is preferably also a control unit of the robot manipulator or at least one such user computer which is connected to the control unit of the robot manipulator. The computing unit has a request interface, an information interface, and a task interface. The term of the respective interface is to be understood in general so that the respective interface can be implemented within the processing unit itself, or the interface can represent the connection to the outside world of the processing unit.

The conformity requirements are provided in particular by the requirements interface. The conformity requirements are preferably specified and stored so that they can be made available at any time by the requirements interface by calling up the corresponding memory unit. The conformity requirements preferably have health requirements and / or safety requirements and / or environmental requirements. In the case of health requirements, in particular, limit values are specified for physical quantities to which a person in the vicinity of the robot manipulator is exposed. This applies, for example, to noise, the strength and frequency of an electrical or electromagnetic field or exposure to harmful substances. The conformity requirements describe in particular safety standards via norms such as exposure duration, absolute limit values, relative limit values or other metrics.

System properties of the robot manipulator, provided by the information interface, relate in particular to the parameters and configuration of the robot manipulator itself. The system properties can include: mass, geometrical dimensions, moment of inertia, characteristics of the drives for maximum speed and / or maximum torque, bandwidth, as well as material Composition, temperature resistance, suitability for fire, electrical conductivity, radiation emission, working space, freedom of movement, maximum joint angles, maximum accelerations, sound generation, generation of electromagnetic waves, and the like, in each case of the robot manipulator and, if applicable, of the end effector. Furthermore, the system properties can include a security level of the software, the compiler used to compile the source text, in particular a control program or the operating system of the robot manipulator, as well as electrical and electronic system properties, in particular the risk of external electromagnetic radiation, electrical insulation, grounding, and the degree of intensity of verification and validation of control programs or other software such as that of an operating system used by the robot manipulator.

The task interface is designed to provide a task. The execution of the task of the robot manipulator is defined by a solution, the solution of the task in particular having a control program and, depending on the solution, other instructions. In particular, the control program determines a trajectory of the individual robot limbs or joints and / or the end effector of the robot manipulator. The task can in principle be specified on different levels of abstraction, with a higher level of abstraction also requiring a higher interpretation effort from the computing unit in order to generate a solution from the task. In particular, the task can be the so-called “pick and place” task, in which an object is to be gripped by the end effector of the robot manipulator and is to be stored at a different location. A large number of tasks can be mastered by robotics - other exemplary tasks would be painting a component, welding, various mechanical processing operations on a workpiece such as polishing, drilling a hole, etc. Accordingly, the situation analysis is particularly context-based. This means that information about the environment of the robot manipulator, about people and objects in the immediate vicinity of the robot manipulator, about certain environmental factors such as an explosive atmosphere, fragile objects, hazardous substances, electrical lines, temperature sources, or other are taken into account, whereby the situation analysis is always considered based on the task being performed. This means that the task is systematically analyzed to determine which boundary conditions exist for motion sequences and, in particular, which basic controls of the robot manipulator the task basically requires and in which context this task is to be carried out, the context in particular due to factors in the environment of the Robot manipulator is determined.

On the basis of this situation analysis and the system properties, the computing unit preferably carries out a risk analysis in order to arrive at a corresponding solution for performing the task. Various possible solutions for performing the task are preferably analyzed predictively and the residual risk is determined for each individual scenario of a possible solution, which remains if appropriate measures to reduce the inherent risk are taken into account when performing the task. This residual risk is compared with the conformity requirements from the processing unit, and it is then checked whether a respective solution meets the conformity requirements, which is to be answered in the affirmative if the residual risk lies within the metrics of the conformity requirements. In principle, there are a large number of options, which are limited by the system properties offered by the robot manipulator in order to adapt a configuration of the robot manipulator accordingly. One possibility of finding such a solution is to adapt a control program to carry out the task so that the robot manipulator carries out the task with a maximum permissible movement speed of the end effector and / or the individual robot members. Alternatively, the impulse of the robot manipulator can also be limited in order to meet a corresponding conformity requirement.

The risk analysis is therefore used in particular to evaluate the risk of a possible solution and to compare it with the conformity requirements. In this way it can be determined whether the planned execution of the task corresponds to the conformity requirements through a respective solution. The system properties and the situation analysis are taken into account. For example, the mass, the moment of inertia and the surface geometry of the robot limbs and the end effector as a system property as well as the speed provided in the control program for moving the robot limbs and the end effector as part of the solution for performing the task each contribute to the impulse of the robot manipulator. Therefore, if a maximum pulse of the robot manipulator is not to be exceeded in accordance with the conformity requirements, these system properties and these solution parameters are taken into account in the risk analysis in order to assess the residual risk when performing the task with the respective proposed solution with regard to the conformity requirements. This reveals the predictive nature of the inventive determination of a solution for performing the task, so that compliance with the conformity requirements can be ensured even before the task is performed. Specifically, in order to determine the solution to the task, program modules in particular are created by minimizing a cost function expressing the risk, in particular through non-linear optimization. In particular, the risk analysis is based on a comparison of the conformity requirements with the residual risk as well as on the system properties and on the situation analysis.

The concept of risk is referred to as such and also in compound terms such as inherent risk or residual risk, in particular as a link between the probability that an error will occur and the damage associated with the respective error. So the greater the likelihood that an error will occur, the higher the risk. The more serious the negative consequence of an error, the higher the risk. On the one hand, the risk can be reduced by that the probability of the occurrence of an error in the operation of the robot manipulator is reduced, or on the other hand, by reducing or preventing negative consequences when the error occurs.

An error in the robot manipulator can be a mechanical error, an electrical error, an error in the execution of a control program, an error in the control program itself, or any other cause that leads to such an execution of a task by the robot manipulator, in particular not the nominal and planned operation of the robot manipulator. A mechanical fault of the robot manipulator is, for example, a material break in a gearbox, the mechanical failure of a brake, the breakage of a link in the robot manipulator, or other faults that cause sharp edges to develop through a crack in a component of the robot manipulator. In the case of an electrical fault, there is a particular risk of increased heat generation, an electric arc, the risk of an electric shock to a person, fire hazard, or moving an actuator of the robot manipulator with unplanned kinematic greetings, for example if an uncontrolled high electrical current flows into one The electric motor of the robot manipulator flows, so that this electric motor in particular causes the robot manipulator to unintentionally move with full torque - the so-called "actuator hardover". In the latter case, the arm of the robot manipulator would move at high speed and, due to the impulse that builds up in this way, represent a mechanical danger for personnel in the vicinity of the robot manipulator.

The concept of inherent risk also describes in particular the risk that exists if no countermeasures are taken to reduce the risk. If such countermeasures are taken, the remaining risk is reduced from the inherent risk to the residual risk.

The documentation is necessary in some legal systems in order to be able to issue a corresponding declaration of conformity. This is used for the safety and information of the user of the robot manipulator. The documentation also ensures that the robot manipulator can find a solution in a transparent manner for carrying out the task. The output unit is preferably a printer that prints both the documentation and the conformity mark on paper or a similar medium. The output unit is preferably designed to output an electronic signature on the output documentation or together with the conformity mark, the electronic signature in particular containing the authenticity of the documentation or the conformity mark and, furthermore, preferably or alternatively preferably, a checksum that the verification of the Documentation or the conformity mark. Furthermore, the output unit is preferably in particular a visual output unit, preferably a screen, glasses of virtual reality, or a projector, or, alternatively or in addition to this, preferably an acoustic output unit. The documentation is based in particular on the conformity requirements, which specify the content of the documentation. The conformity mark is, in particular, a specified mark specified by the conformity requirements, which is correspondingly printed on the paper or another medium, or is displayed on the visual output unit. If the selected solution for performing the task satisfies the conformity requirements, a symbol or a corresponding color is also preferably displayed, for example a green tick.

It is an advantageous effect of the invention that it can be ensured that a robot manipulator satisfies certain predetermined conformity requirements when performing a task, even if the conformity requirements are variable. Another advantageous effect of the invention is that the robot manipulator and its software are not necessarily restricted to unnecessarily high requirements when they are delivered, because in some tasks different safety standards may be necessary than in others. This advantageously means that strict conformity requirements are also met when performing a task, in particular if the conformity requirements change without the robot manipulator itself having to be modified.

According to an advantageous embodiment, the task interface is designed to determine the task from sensor data from a sensor unit connected to the computing unit. While the task interface can transmit a specified task to the computing unit, according to this embodiment, a sensor unit connected to the robot manipulator is preferably used to detect the surroundings of the robot manipulator in order to then generate a task itself from the data from the sensor unit. In particular, the computing unit itself is designed to generate this task so that the task interface can also be implemented in the computing unit itself. It is preferably possible for the task interface to supply parts of the task in a fixed manner as well as additionally with the data from Sensor unit can be adapted to certain parameters of the task. This advantageously achieves greater flexibility when carrying out the task, since the task interface can accordingly specify the task, adapted to the current situation.

According to a further advantageous embodiment, the computing unit is designed to control the robot limbs and / or the end effector for performing the task according to the solution only when the solution meets the conformity requirements. This advantageously ensures that the robot manipulator is not operated without the fulfillment of specified conformity requirements.

• - die Aufgabe in eine Zahl m Teilaufgaben zu zerlegen,
• - für jede der m Teilaufgaben eine Zahl n_1,...,m möglicher Teillösungen bereitzustellen, und
• - die Lösung durch kombinatorisches Variieren der n_1,...,m Teillösungen für die m Teilaufgaben zu einer Vielzahl von möglichen Kombinationen von Teillösungen, durch Bewerten der Kombinationen auf Basis der Risikoanalyse, und durch Auswählen einer ersten Kombination aus der Vielzahl der möglichen Kombinationen auf Grundlage der Bewertung zu ermitteln.

According to a further advantageous embodiment, the computing unit is designed to

• - to split the task into a number m sub-tasks,
• - to provide a number n _{1, ..., m of} possible partial solutions for each of the m subtasks, and
• - the solution by combinatorial variation of the n _{1, ..., m} partial solutions for the m partial tasks to a large number of possible combinations of partial solutions, by evaluating the combinations on the basis of the risk analysis, and by selecting a first combination from the large number of possible combinations to be determined on the basis of the assessment.

The fact that a number n _{1,..., M of} possible partial solutions is provided for each of the m subtasks means in particular that an individual number of partial solutions is available for each of the subtasks. For example, the first sub-task has five possible sub-solutions n ₁ = 5, the second sub-task has three possible sub-solutions n2 = 3, etc .; this results in possible combinations of partial solutions in that a specific one of the available partial solutions is selected for each of the partial tasks. For example, if the task is broken down into three sub-tasks and there are three possible sub-solutions for each of the three sub-tasks, this results in 3 ³ = 27 possible combinations of sub-solutions. If, on the other hand, two possible partial solutions are known for three subtasks for the first subtask and three possible partial solutions for each of the other two subtasks, then there are 3 * 2 * 3 = 18 possible combinations of partial solutions. Not necessarily all possible combinations of the partial solutions have to be analyzed individually in the risk analysis. On the one hand, prior knowledge can be preferred in order to exclude certain combinations of partial solutions or to prefer certain combinations of solutions. The same applies to detailed solutions themselves, so that partial solutions determined by the computing unit can be preferred or neglected depending on the system properties and / or the situation analysis and / or the task. On the other hand, the search for an optimal solution can preferably be shortened using adaptive methods and learning processes. Gradient-based methods or other methods known from non-linear optimization (quadratic optimization, golden section method, genetic algorithms, evolution algorithms, ...) can be used. The evaluation is therefore in particular a cost function of the optimization, with the cost function having to be minimized. This advantageously offers an efficient procedure for determining the solution.

According to a further advantageous embodiment, the computing unit is designed to carry out the evaluation of a respective one of the combinations by simulating the corresponding solution with a respective combination of the partial solutions. In the simulation, the execution of the task is simulated in particular based on a respective combination of partial solutions, the simulation preferably also taking into account objects in the environment in addition to the system properties of the robot manipulator itself. The simulation advantageously allows a predictive analysis during the virtual execution of the task, the simulation advantageously offering a very precise and reliable method for predicting the execution of the task.

According to a further advantageous embodiment, the computing unit is designed to determine the solution for performing the task by non-linear optimization, the conformity requirements being restrictions of the non-linear optimization. Possible methods from the field of nonlinear optimization are in particular genetic algorithms, evolution algorithms, gradient-based methods, quadratic optimization or a combination thereof. In the restricted non-linear optimization, the restrictions are applied to the parameter space in such a way that the restrictions, which are expressed in particular in the form of a limit value, are not violated or exceeded. By mapping the conformity requirements to the restrictions, the non-linear optimization in particular is very efficient, especially when the cost function of the non-linear optimization is based on a level of performance of the robot manipulator, such as the speed of the robot manipulator with which the task is carried out, taking into account the conformity requirements is minimized.

According to a further advantageous embodiment, the computing unit is designed to provide the solution for performing the task by combining partial solutions stored in a database or by selecting from those that are stored generate complete solutions. The stored partial solutions advantageously offer a very efficient starting point in order to determine the solution for carrying out the task as quickly as possible.

• - die Aufgabe,
• - Parameter einer vordefinierten Struktur für die Lösung,
• - Parameter einer strukturell invarianten Reglerstruktur,
• - eine Reglerstruktur zur geregelten Ansteuerung der Roboterglieder und/oder des Endeffektors,
• - Maximalwerte gewünschter kinematischer Größen der Roboterglieder und/oder des Endeffektors,
• - Maximalwerte der Ansteuerung der Roboterglieder und/oder des Endeffektors.

According to a further advantageous embodiment, the computing unit is designed to adapt at least one of the following elements in such a way that the conformity requirements are met by the solution:

• - the task,
• - parameters of a predefined structure for the solution,
• - parameters of a structurally invariant controller structure,
• - a controller structure for controlled control of the robot limbs and / or the end effector,
• - Maximum values of desired kinematic variables of the robot limbs and / or the end effector,
• - Maximum values of the control of the robot limbs and / or the end effector.

Parameters of a structurally invariant controller structure are, in particular, gains, limitations, confirmation values, or even initial values of integrators and dynamic filters of the controller with a predetermined controller structure, the controller in particular activating the actuators accordingly for correctly following a trajectory of the robot manipulator and / or the end effector of the robot manipulator the robot manipulator and / or the end effector is used. Kinematic variables of the robot limbs and / or of the end effector relate in particular to a speed or acceleration. Maximum values of the control relate in particular to commanded torques on motors of the robot manipulator and / or the end effector.

According to a further advantageous embodiment, the documentation has one or more of the following elements:

• - A technical description of the robot manipulator with one or more technical specifications,
• - An instruction manual for the robot manipulator,
• - Design criteria according to which the robot manipulator is developed,
• - A parameterization of the robot depending on the task and / or solution,
• - A control of the robot depending on the task and / or solution,
• - A limitation of measurable variables and / or signals within a controller of the robot that is dependent on the task and / or solution.

• - Bereitstellen von Konformitätsanforderungen an die Recheneinheit durch eine Anforderungsschnittstelle,
• - Bereitstellen von Systemeigenschaften des Robotermanipulators an die Recheneinheit durch eine Informationsschnittstelle, und
• - Bereitstellen einer Aufgabe durch die Aufgabenschnittstelle,
• - Durchführen einer Situationsanalyse auf Basis der Aufgabe durch die Recheneinheit,
• - Ermitteln einer Lösung zum Ausführen der Aufgabe auf Basis einer Risikoanalyse durch die Recheneinheit, wobei die Lösung Maßnahmen zur Senkung des inhärenten Risikos bei der Ausführung der Aufgabe auf ein Residualrisiko aufweist und die Risikoanalyse auf einem Vergleich der Konformitätsanforderungen mit dem Residualrisiko abhängig von den Systemeigenschaften und von der Situationsanalyse basiert,
• - Erzeugen einer Dokumentation auf Basis der Systemeigenschaften und auf Basis der Aufgabe und/oder der Lösung durch die Recheneinheit und Übermitteln der Dokumentation zusammen mit einem Signal zum Ausgeben eines Konformitätskennzeichens an die Ausgabeeinheit, jeweils wenn die Lösung die Konformitätsanforderungen erfüllt, und
• - Ansteuern der Roboterglieder und/oder des Endeffektors zum Ausführen der Aufgabe gemäß der Lösung.

A further aspect of the invention relates to a method for performing a task by a robot manipulator with controllable robot members and / or with a controllable end effector, the robot manipulator being connected to an output unit and to a computing unit, the computing unit having a request interface and an information interface, and has a task interface, comprising the steps:

• - Provision of conformity requirements to the computing unit through a requirements interface,
• - Provision of system properties of the robot manipulator to the computing unit through an information interface, and
• - Provision of a task through the task interface,
• - Carrying out a situation analysis based on the task by the computing unit,
• - Determination of a solution for performing the task on the basis of a risk analysis by the processing unit, the solution having measures to reduce the inherent risk when performing the task to a residual risk and the risk analysis based on a comparison of the conformity requirements with the residual risk depending on the system properties and based on the situation analysis,
• - Generating documentation on the basis of the system properties and on the basis of the task and / or the solution by the computing unit and transmitting the documentation together with a signal for outputting a conformity mark to the output unit, in each case when the solution meets the conformity requirements, and
• - Controlling the robot limbs and / or the end effector to carry out the task according to the solution.

Advantages and preferred further developments of the proposed method result from an analogous and analogous transfer of the statements made above in connection with the proposed robot manipulator.

Further advantages, features and details emerge from the following description in which - possibly with reference to the Drawing - at least one embodiment is described in detail. Identical, similar and / or functionally identical parts are provided with the same reference symbols.

• 1 einen Robotermanipulator gemäß einem Ausführungsbeispiel der Erfindung, und
• 2 ein Verfahren gemäß einem weiteren Ausführungsbeispiel der Erfindung.

Show it:

• 1 a robot manipulator according to an embodiment of the invention, and
• 2 a method according to a further embodiment of the invention.

The representations in the figures are schematic and not to scale. The procedure as below 2 the method described is that which is carried out on the robot manipulator from the 1 is applied. The descriptions of the two figures are therefore interchangeable and the respective other figure can be used for a further understanding of the description of a figure.

1 shows a robot manipulator 1 with controllable robot members and with a controllable end effector 3 to carry out the task "Pick up object 'O' and place it in another location". The robot manipulator 1 has an output unit 5 namely a printer, and one in the base of the robot manipulator 1 arranged computing unit 7th on. The arithmetic unit 7th has a request interface 11 , and an information interface 13 , and a task interface 15th on. The requirements interface 11 supplies specified conformity requirements to the processing unit 7th . The information interface 13 provides information about the system properties of the robot manipulator 1 to the computing unit 7th , with this information about the system properties in a memory unit of the computing unit 7th are filed. The task interface 15th generated from given information about a task and from data from the camera 9 at the end effector 3 the task to be performed. The task to be carried out is thus: "Find object O, lift it, move it from place A to place B, and put it back in place B". Information about location A comes from the camera 9 . The information about the task that the object O is to be moved comes from a user input. The arithmetic unit 7th carries out a situation analysis based on this task. The situation analysis evaluates the task against the background that a person is in the vicinity of the robot manipulator 1 is or at least could be. The conformity requirements for collaborative robots therefore also apply. The arithmetic unit 7th also determines a solution for performing the task based on a risk analysis. As a measure to reduce the risk when solving the task, a limitation of the maximum speed and a limitation of the maximum acceleration of the robot manipulator are used 1 and the end effector 3 from the computing unit 7th determined.

Therefore, the remaining risk is reduced to a value of the residual risk, which is compared with the applicable conformity requirements. The maximum speed and the maximum acceleration of the robot manipulator 1 is therefore chosen precisely so that it still meets the conformity requirements. The residual risk relates to a collision of the robot manipulator 1 along with its end effector 3 and that of the end effector 3 gripped object O with the person. Is such a solution of computing unit 7th that meets the conformity requirements is found by the output unit 5 a documentation is printed and the conformity mark is also printed. Then the robot limbs and the end effector 3 driven to perform the task according to the solution.

• - Bereitstellen S1 von Konformitätsanforderungen an die Recheneinheit 7 durch eine Anforderungsschnittstelle 11,
• - Bereitstellen S2 von Systemeigenschaften des Robotermanipulators 1 an die Recheneinheit 7 durch eine Informationsschnittstelle 13 ausgeführt ist, und
• - Bereitstellen S3 einer Aufgabe durch die Aufgabenschnittstelle 15,
• - Durchführen S4 einer Situationsanalyse auf Basis der Aufgabe durch die Recheneinheit 7,
• - Ermitteln S5 einer Lösung zum Ausführen der Aufgabe auf Basis einer Risikoanalyse durch die Recheneinheit 7, wobei die Lösung Maßnahmen zur Senkung des inhärenten Risikos bei der Ausführung der Aufgabe auf ein Residualrisiko aufweist und die Risikoanalyse auf einem Vergleich der Konformitätsanforderungen mit dem Residualrisiko abhängig von den Systemeigenschaften und von der Situationsanalyse basiert,
• - Erzeugen S6 einer Dokumentation auf Basis der Systemeigenschaften und auf Basis der Aufgabe und/oder der Lösung durch die Recheneinheit und Übermitteln der Dokumentation zusammen mit einem Signal zum Ausgeben eines Konformitätskennzeichens an die Ausgabeeinheit 5, jeweils wenn die Lösung die Konformitätsanforderungen erfüllt, und
• - Ansteuern S7 der Roboterglieder und/oder des Endeffektors 3 zum Ausführen der Aufgabe gemäß der Lösung.

2 Figure 11 shows a method of performing a task by a robotic manipulator 1 with controllable robot members and / or with a controllable end effector 3 to perform a task, the robotic manipulator 1 with an output unit 5 and with a computing unit 7th is connected, the computing unit 7th a requirements interface 11 , and an information interface 13 , and a task interface 15th comprising the steps:

• - Provide S1 of conformity requirements for the computing unit 7th through a requirements interface 11 ,
• - Provide S2 of system properties of the robot manipulator 1 to the computing unit 7th through an information interface 13 is executed, and
• - Provide S3 a task through the task interface 15th ,
• - Carry out S4 a situation analysis based on the task by the computing unit 7th ,
• - Determine S5 a solution for performing the task on the basis of a risk analysis by the computing unit 7th , whereby the solution has measures to reduce the inherent risk when performing the task to a residual risk and the risk analysis is based on a comparison of the conformity requirements with the residual risk depending on the system properties and the situation analysis,
• - Produce S6 documentation based on the system properties and based on the task and / or the solution by the computing unit and transmitting the documentation together with a signal for outputting a conformity mark to the output unit 5 , if the solution meets the compliance requirements, and
• - Approach S7 the robot limbs and / or the end effector 3 to carry out the task according to the solution.

List of reference symbols

1

Robotic manipulator

3

End effector

5

Output unit

7th

Arithmetic unit

9

Sensor unit

11

Requirements interface

13

Information interface

15th

Task interface

S1

Provide

S2

Provide

S3

Provide

S4

Carry out

S5

Determine

S6

Produce

S7

Drive

Claims (10)

Robot manipulator (1) with controllable robot members and / or with a controllable end effector (3) for performing a task, the robot manipulator (1) being connected to an output unit (5) and to a computing unit (7), the computing unit (7) a request interface (11), and an information interface (13), and a task interface (15), wherein The requirements interface (11) is designed to provide conformity requirements to the processing unit (7), The information interface (13) is designed to provide system properties of the robot manipulator (1) to the computing unit (7), and The task interface (15) is designed to provide a task, and the computing unit (7) is designed to - carry out a situation analysis based on the task, - To determine a solution for carrying out the task on the basis of a risk analysis, the solution having measures to reduce the inherent risk when carrying out the task to a residual risk and the risk analysis based on a comparison of the conformity requirements with the residual risk depending on the system properties and on the Situation analysis based, - to generate documentation based on the system properties and based on the task and / or the solution and to transmit the documentation to the output unit (5) together with a signal for outputting a conformity mark, in each case when the solution meets the conformity requirements, and - to control the robot limbs and / or the end effector (3) to carry out the task according to the solution. Robot manipulator (1) Claim 1 wherein the task interface (15) is designed to determine the task from sensor data from a sensor unit (9) connected to the computing unit (7). Robot manipulator (1) according to one of the preceding claims, wherein the computing unit (7) is designed to control the robot limbs and / or the end effector (3) for performing the task according to the solution only if the solution meets the conformity requirements. Robot manipulator (1) according to one of the preceding claims, wherein the arithmetic unit (7) is designed to - break down the task into m sub-tasks, - provide a number n _{1, ..., m of} possible sub-solutions for each of the m sub-tasks, and - the solution by combinatorial variation of the n _{1, ..., m} partial solutions for the m partial tasks to a large number of possible combinations of partial solutions, by evaluating the combinations on the basis of the risk analysis, and by selecting a first combination from the large number of possible combinations to be determined on the basis of the assessment. Robot manipulator (1) Claim 4 wherein the computing unit (7) is designed to carry out the evaluation of a respective one of the combinations by simulating the corresponding solution with a respective combination of the partial solutions. Robot manipulator (1) according to one of the preceding claims, wherein the computing unit (7) is designed to determine the solution for carrying out the task by non-linear optimization, the conformity requirements being restrictions of the non-linear optimization. Robot manipulator (1) according to one of the preceding claims, wherein the computing unit (7) is designed to provide the solution for executing the task by combining partial solutions stored in a database or by selection to generate from stored complete solutions. Robot manipulator (1) according to one of the preceding claims, wherein the computing unit (7) is designed to adapt at least one of the following elements in such a way that the conformity requirements are met by the solution: - the task, - parameters of a predefined structure for the solution, - parameters of a structurally invariant controller structure, - a controller structure for controlled control of the robot limbs and / or the end effector (3), - Maximum values of desired kinematic sizes of the robot limbs and / or the end effector (3), - Maximum values of the control of the robot limbs and / or the end effector (3). Robot manipulator (1) according to one of the preceding claims, wherein the documentation has one or more of the following elements: - A technical description of the robot manipulator (1) with one or more technical specifications, - An instruction manual for the robot manipulator (1), - Design criteria according to which the robot manipulator (1) is developed, - A parameterization of the robot (1) depending on the task and / or solution, - A control of the robot (1) depending on the task and / or solution, - A limitation of measurable variables and / or signals within a controller of the robot (1) that is dependent on the task and / or solution. A method for performing a task by a robot manipulator (1) with controllable robot members and / or with a controllable end effector (3), wherein the robot manipulator (1) is connected to an output unit (5) and to a computing unit (7), the computing unit (7) has a request interface (11), and an information interface (13), and a task interface (15), comprising the steps: - Provision (S1) of conformity requirements to the computing unit (7) through a requirements interface (11), - Providing (S2) system properties of the robot manipulator (1) to the computing unit (7) through an information interface (13), and - Provision (S3) of a task through the task interface (15), - Carrying out (S4) a situation analysis based on the task by the computing unit (7), - Determination (S5) of a solution for performing the task on the basis of a risk analysis by the computing unit (7), the solution having measures to reduce the inherent risk when performing the task to a residual risk and the risk analysis based on a comparison of the conformity requirements with the Residual risk is based on the system properties and the situation analysis, - Generating (S6) a documentation based on the system properties and based on the task and / or the solution by the processing unit and transmitting the documentation together with a signal for outputting a conformity mark to the output unit (5), in each case when the solution meets the conformity requirements , and - Controlling (S7) the robot limbs and / or the end effector (3) to carry out the task according to the solution.

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