DE102019125326B3 - Predicted braking range of a robot manipulator - Google Patents

Abstract

The invention relates to a method for determining a braking range of a robot manipulator (1) when following a trajectory (3), comprising the steps: - presetting (S1) a planned trajectory (3) of the robot manipulator (1), - presetting (S2) a plurality of starting points (5) on the trajectory (3), - for each of the starting points (5): determining (S3) a respective predicted end point (6) of the robot manipulator (1) after braking the robot manipulator at the respective starting point (5) ( 1) by means of a brake simulation, and determining (S4) the braking area from the large number of the respective predicted end points (6) of the robot manipulator (1), so that the predicted end points (6) of the robot manipulator (1) lie within the braking area.

Description

The invention relates to a method for determining a braking area of a robot manipulator when following a trajectory, and a robot system for determining a braking area of a robot manipulator of the robot system when following a trajectory.

In the EP 3 556 521 A1 describes a method for controlling a kinematic system that is modeled in a kinematic coordinate system by means of articulated individual axes, at least one of the individual axes being connected to an origin of the kinematic coordinate system and at least one of the individual axes moving relative to the origin, with a braking process for one with a single axis coupled point from a starting position of the point, a vectorial speed of at least one single axis and a minimum deceleration of at least one single axis at least one virtual end position of the point is determined, and that a braking area of the point by an envelope of the starting position and the at least one virtual end position is determined, the extent of the envelope being calculated from the starting position and the at least one virtual end position and the braking range being taken into account when controlling the kinematics.

Furthermore, the DE 10 2009 040 145 A1 a method for stopping a manipulator, in particular a robot, with the steps of: monitoring an area; and braking the manipulator in the event of a range violation; wherein the monitored area is variable during operation based on a braking distance of the manipulator.

The DE 10 2007 061 323 A1 also relates to a method for controlling the movement of a robot within a working area delimited by limits, the path speed of the robot being planned to be reduced as the distance to the working area is reduced in such a way that the robot comes to a standstill within the working area when braking.

The DE 103 61 132 A1 relates to a method for monitoring the movement of an object moving in several degrees of freedom, such as the handling mass of a handling device, with a speed v and / or a position P in relation to a stationary or moving endangered object such as in working space A of the dangerous object or moving person and / or in the work space A of the dangerous object 14 defined Cartesian or axis-specific protection zone, whereby a kinetic energy of the moving dangerous object is constantly calculated, whereby a distance of the moving object to a potential collision point K with the endangered object is constantly calculated, the speed v of the dangerous object being continuously readjusted and monitored, so that it depends on the kinetic energy of the dangerous object and the distance E between the dangerous object and the endangered ob project is set in such a way that the kinetic energy is slowed down to a desired value when moving in the direction of the endangered object.

The DE 195 17 771 A1 relates to a method for operating a numerically controlled multi-axis machine tool or a robot according to a given program which, after processing a block in an interpolator, determines setpoints for controlling the axes in interpolation steps, with at least one of the axes being set to a definable end position by a software limit switch can be limited, whereby each time the next interpolation step is determined for each axis with a software limit switch, it is checked in the interpolator whether, taking into account the axial speed to be achieved in the next interpolation step, when braking with its maximum axial braking acceleration it is still up to that of the respective software Limit switch can come to a standstill in certain respective axial end positions and that axes for which this is no longer the case are aborted instead of the next interpolation step with their respective maximum axial braking acceleration be serious.

The EP 3 498 433 A1 relates to a method for setting the trajectories for an industrial robot based on the requirements for the maximum permitted stopping time or the braking distance, so that the requirements are met regardless of when the stop is initiated, with the industrial robot with built-in control software having several degrees of freedom. In order to define a certain time or distance limit or both within which the robot can stop, the method comprises the following steps: providing control software for generating the trajectories which are required to solve the given tasks; Implementation of a safety system that monitors the movements of the robot manipulator and is able to bring the robot to a safe standstill, whereby the safety system models the dynamics of the robot by determining the maximum possible torque or the maximum possible force generated by motors and gears of the robot or the robot is exerted by the drive brake system or by the combination of drive and brake system; dynamic and continuously calculating the time it would take for the robot to stop or the distance it would travel while stopping at a given point in time; a user interface that allows a robot user or integrator to configure the stopping time or the stopping distance limit, or both; and stopping the robot in the event that the estimated stopping time or distance of the current robot trajectory exceeds the stopping time or stopping distance limits.

The object of the invention is to make the operation of a robot manipulator safer.

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

• - Vorgeben einer geplanten Trajektorie des Robotermanipulators,
• - Vorgeben einer Vielzahl von Startpunkten auf der Trajektorie,
• - für jeden der Startpunkte: Ermitteln eines jeweiligen prädizierten Endpunktes des Robotermanipulators nach einer am jeweiligen Startpunkt eingeleiteten Bremsung des Robotermanipulators mittels einer Bremssimulation,
• - Ermitteln des Bremsbereichs aus der Vielzahl der jeweiligen prädizierten Endpunkte des Robotermanipulators, sodass die prädizierten Endpunkte des Robotermanipulators innerhalb des Bremsbereichs liegen, wobei der Bremsbereich ein die jeweiligen Endpunkte des Robotermanipulators einhüllender virtueller Schlauch ist,
• - Anpassen der geplanten Trajektorie, wenn ein Vergleich des ermittelten Bremsbereiches mit einer Sicherheitsanforderung ein negatives Ergebnis liefert, und
• - Abfahren der angepassten Trajektorie.

A first aspect of the invention relates to a method for determining a braking range of a robot manipulator when following a trajectory, comprising the steps:

• - Specifying a planned trajectory of the robot manipulator,
• - Specifying a large number of starting points on the trajectory,
• - for each of the starting points: determining a respective predicted end point of the robot manipulator after braking the robot manipulator at the respective starting point by means of a brake simulation,
• - Determination of the braking area from the plurality of the respective predicted end points of the robot manipulator, so that the predicted end points of the robot manipulator lie within the braking area, the braking area being a virtual tube enveloping the respective end points of the robot manipulator,
• - Adaptation of the planned trajectory if a comparison of the determined braking area with a safety requirement provides a negative result, and
• - running of the adapted trajectory.

The term planned trajectory includes a planned geometric trajectory, the term trajectory optionally also providing time information, i.e. in addition to the geometric trajectory, a specified point in time or a specified speed or acceleration can be defined, which the robot manipulator and in particular the specified location of the robot manipulator should have at the respective point of the geometric trajectory. The geometric trajectory is preferably expressed by a polynomial or, alternatively, preferably at least by a sequence of points in space that a predetermined location of the robot manipulator is to traverse. In particular, the trajectory is defined in earth-fixed space, or, alternatively, indirectly through the course of joint angles in the case of a robot manipulator which has links connected to one another by joints.

A respective one of the starting points corresponds to the position and / or orientation of the robot manipulator when following the planned trajectory at a specific point in time. Such an instantaneous state of the robot manipulator while traveling the planned trajectory is considered and, starting from this respective starting point, a simulation is carried out that predictively determines the corresponding end point of a braking process that the robot manipulator and in particular the above-mentioned predetermined location of the robot manipulator would assume if the braking process would actually be carried out starting from the respective starting point of the robot manipulator on the trajectory.

This shows the predictive nature of the determination of the respective end point, which can be assumed by the robot manipulator when the robot manipulator actually brakes when the trajectory is actually traveled, but this does not necessarily have to be, since the simulation naturally only reproduces a model of reality. However, due to the high level of system knowledge of a robot manipulator and its components, such a simulation can advantageously be carried out reliably. If, therefore, a large number of starting points are selected on the trajectory of the robot manipulator in order to carry out such a simulation of the braking of the robot manipulator from each of these points of view, it is advantageously possible to very precisely predict which possible end points of the robot manipulator can occur when the robot manipulator actually travels the planned Trajectory would be braked at any point on the trajectory and thus the departure of the planned trajectory would be interrupted.

The more starting points are used per trajectory, the more precisely this prediction can be made. It is possible to choose from at least two options as to how the starting points are distributed on the trajectory: On the one hand, they can be defined depending on a distance on the trajectory, or the starting points are defined with respect to the trajectory depending on a time, and that based on the time Determined location on the trajectory that the robot manipulator has when following the trajectory.

The brake simulation simulates the further movement of the robot manipulator after braking has been initiated. The braking takes place in particular by appropriate control of preferably electrical actuators of the robot manipulator, which are arranged in particular on the joints between the links. The brake simulation takes into account in particular the mass and the moment of inertia of the individual links as well as the joints, motors, gears and all other components of the robot manipulator and, based on the specified braking torque, concludes that the components of the robot manipulator will be decelerated accordingly, whereupon the respective end point is calculated.

The braking range of the robot manipulator, valid for a specific trajectory, is determined according to the first aspect of the invention from the plurality of predicted end points of the robot manipulator after a respective hypothetical braking process. The braking area is preferably determined in such a way that it forms an envelope for the predicted end points, so that all of the predicted end points are preferably within the braking area. Furthermore, due to the uncertainties associated with the simulation, for example in the case of non-linear effects, friction losses, external disturbances, etc., the braking area can be defined with a certain safety margin to the predicted end points, so that a conservative estimate of the braking area is obtained. This advantageously increases safety when the determined braking area is used later, in particular when adapting the planned trajectory depending on the determined braking area or when defining safe geometric areas in the possible working area of the robot manipulator.

It is an advantageous effect of the invention that, due to the large number of possible end points determined after braking while following a trajectory by a robot manipulator, a braking area can be determined very precisely and very reliably, so that during operation of the robot manipulator it can be improved in particular by the known braking range for a certain trajectory, a safe operation of the robot manipulator with respect to certain geometric areas can be predicted. Furthermore, the safety-relevant area of the robot manipulator can be designed more easily in that, in particular, a safety cell to be delimited by a light barrier is not designed to be larger than necessary. This advantageously saves costs and space used in a production area.

• - Anpassen der geplanten Trajektorie, wenn ein Vergleich des ermittelten Bremsbereiches mit einer Sicherheitsanforderung ein negatives Ergebnis liefert, und
• - Abfahren der angepassten Trajektorie.

Vorteilhaft wird insbesondere dann die geplante Trajektorie angepasst, wenn der ermittelte Bremsbereich in unzulässige und bevorzugt gegenüber einem erdfesten Koordinatensystem definierte sichere Bereiche eintritt, in diese der Robotermanipulator unter keinen Umständen eintreten darf. In diesem Fall entspricht die Sicherheitsanforderung einem zulässigen Korridor bzw. einem zulässigen Arbeitsbereich, den der Robotermanipulator und insbesondere ein vorgegebener Ort am Robotermanipulator nicht verlassen darf. Auch andere Sicherheitsanforderungen können definiert werden, beispielsweise die Länge eines Bremswegs des Robotermanipulators und insbesondere eines vorgegebenen Ortes auf dem Robotermanipulator, oder die Zeitdauer, die der Robotermanipulator zum Erreichen des jeweiligen Endpunktes ausgehend vom jeweiligen Startpunkt benötigt. Vorteilhaft wird durch das Anpassen der geplanten Trajektorie ein sicherer Betrieb des Robotermanipulators gewährleistet.According to a further advantageous embodiment, the method also has the steps:

• - Adaptation of the planned trajectory if a comparison of the determined braking area with a safety requirement provides a negative result, and
• - running of the adapted trajectory.

In particular, the planned trajectory is advantageously adapted if the determined braking area enters into impermissible and preferably defined safe areas with respect to a fixed coordinate system, into which the robot manipulator may not enter under any circumstances. In this case, the safety requirement corresponds to a permissible corridor or a permissible working area which the robot manipulator and in particular a predetermined location on the robot manipulator must not leave. Other safety requirements can also be defined, for example the length of a braking distance of the robot manipulator and in particular a predetermined location on the robot manipulator, or the length of time that the robot manipulator needs to reach the respective end point starting from the respective starting point. By adapting the planned trajectory, safe operation of the robot manipulator is advantageously ensured.

According to a further advantageous embodiment, the planned trajectory is adapted by determining a permissible working space as a function of the determined braking range. The permissible work space specifies in particular a permissible corridor for the movement of the robot manipulator and in particular the specified location on the robot manipulator. Advantageously, by limiting the working space, the path curve for the robot manipulator is geometrically limited, but there is still more leeway to define the path curve geometrically in space.

According to a further advantageous embodiment, the brake simulation is carried out in each case with a predefined parameter of a brake controller of the brake simulation and the parameters of the brake controller are predefined by a manual input by a user on an input unit connected to the robot manipulator. The brake controller is initially actually implemented in a computing unit or a control unit of the robot manipulator and is provided for the regular operation of the robot manipulator. In the brake simulation, this brake controller is used in its original implementation or in a virtual copy of it in a simulation unit in order to carry out the brake simulation. The The brake controller has a certain momentum, bandwidth, possibly dead time, and other specific properties, which can be set at least partially by one or more parameters of the brake controller. With this embodiment, a user can advantageously specify the braking parameters with which the respective braking simulation is to be carried out and thus design according to his wishes to ensure safe operation of the robot manipulator by keeping important degrees of freedom of the robot manipulator open. The input unit is in particular a touch-sensitive screen, a numeric keypad, a voice input unit for capturing voice inputs or the robot manipulator itself, in that it functions as a pointing arm similar to a joystick or a mouse on a user computer.

• - Anzeigen des Bremsbereiches und der geometrischen Bahnkurve der Trajektorie auf einer Anzeigeeinheit.

According to a further advantageous embodiment, the braking area is a virtual tube enveloping the respective end points of the robot manipulator. The virtual hose preferably has an essentially circular diameter in order to take into account the unavoidable uncertainties with respect to reality that occur during the simulation without prejudice. This virtual hose advantageously offers a user the possibility of visualizing how the braking area lies in relation to the planned geometric trajectory of the planned trajectory. The method therefore preferably has the further step:

• - Display of the braking range and the geometric trajectory of the trajectory on a display unit.

According to a further advantageous embodiment, a jacket surface of the virtual hose maintains a predetermined minimum distance from the respective end points. The specified minimum distance of the, in particular, circularly curved outer surface of the virtual hose advantageously takes account of unavoidable uncertainties in the simulation. This advantageously increases the operational reliability when following the planned or adapted trajectory of the robot manipulator.

According to a further advantageous embodiment, a large number of predicted end points are determined by the brake simulation for at least one of the respective starting points, with a respective brake simulation with different parameters of the brake controller and / or with different sequences of activations and / or failures of individual brakes of the robot manipulator and / or with different pose courses of a redundant robot manipulator is carried out repeatedly during the braking. According to this embodiment, a multiplicity of end points is determined for each individual one of the viewpoints in that the brake simulation assumes different situations or parameters. In particular with a redundant robot manipulator, in which the end effector position in space remains constant even when certain limbs and joints move with redundant degrees of freedom to one another, the completeness of a state space is approximated by multiple simulations, and thus advantageously a large number of parameters, configurations and poses a redundant robot manipulator is taken into account in order to determine the most complete braking range possible. Activations and / or failures of brakes that follow one another in time take place in particular when the brakes fail and fail. In particular, in the nominal case, braking is carried out with a preferably electrical actuator per joint, which is supported by a corresponding controller of the computing unit or control unit of the robot manipulator. By using a controller, it is possible to predict very precisely where the respective end point will be, since in particular it can be assumed that the controller correctly realizes the target braking torque or the target braking trajectory. However, if the controller or an electric motor, a joint or some other component in this control loop fails, mechanical brakes are preferred. The change from one brake to the other brake can also be carried out during the braking process, so that different end points result depending on when this change takes place, how long the change takes and what specific form this change takes.

According to a further advantageous embodiment, mutually adjacent starting points each have the same path spacing. The path distance is the distance that has to be covered when driving the planned trajectory from one starting point to the next starting point. The setting of the starting points according to this embodiment advantageously provides a geometrically continuous result of the starting point and associated end points, since a uniformly geometrical distance between the points of view is achieved regardless of the speed at which the trajectory is traveled.

According to a further advantageous embodiment, the large number of starting points on the trajectory are selected such that the robot manipulator traverses the starting points when the trajectory is traversed after equidistant time steps, that is to say at equidistant points in time. The equidistant points in time are preferably selected to be exactly as large as the data clock of the computing unit or the control unit of the robot manipulator, so that after a respective intermediate step of a discretely executed algorithm by the control unit or the computing unit of the robot manipulator, one or more possible end points are also known after a braking process of the robot manipulator has been completed. Advantageously, when the planned trajectory is actually followed later, the possible end point of a robot manipulator is known for each intermediate step, whereby a task can be adapted, a warning can be output or something else during the current operation of the robot manipulator.

• - Vorgeben einer geplanten Trajektorie des Robotermanipulators,
• - Vorgeben einer Vielzahl von Startpunkten auf der Trajektorie,
• - für jeden der Startpunkte: Ermitteln eines jeweiligen prädizierten Endpunktes des Robotermanipulators nach einer am jeweiligen Startpunkt eingeleiteten Bremsung des Robotermanipulators mittels einer Bremssimulation, und
• - Ermitteln des Bremsbereichs aus der Vielzahl der jeweiligen prädizierten Endpunkte des Robotermanipulators, sodass die prädizierten Endpunkte des Robotermanipulators innerhalb des Bremsbereichs liegen.

A further aspect of the invention relates to a robot system for determining a braking range of a robot manipulator of the robot system when following a trajectory, having a computing unit which is designed to:

• - Specifying a planned trajectory of the robot manipulator,
• - Specifying a large number of starting points on the trajectory,
• - for each of the starting points: determining a respective predicted end point of the robot manipulator after braking of the robot manipulator initiated at the respective starting point by means of a brake simulation, and
• - Determining the braking area from the plurality of the respective predicted end points of the robot manipulator, so that the predicted end points of the robot manipulator are within the braking area.

• - Anpassen der geplanten Trajektorie, wenn ein Vergleich des ermittelten Bremsbereiches mit einer Sicherheitsanforderung ein negatives Ergebnis liefert, und
• - Abfahren der angepassten Trajektorie.

According to the invention, the computing unit is also designed to:

• - Adaptation of the planned trajectory if a comparison of the determined braking area with a safety requirement provides a negative result, and
• - running of the adapted trajectory.

According to a further advantageous embodiment, the computing unit is designed to adapt the planned trajectory by determining a permissible working space as a function of the determined braking range.

According to a further advantageous embodiment, the computing unit is designed to carry out the brake simulation in each case with a predetermined parameter of a brake controller of the brake simulation and to record and specify the parameters of the brake controller from a manual input by a user on an input unit connected to the robot manipulator.

According to the invention, the braking area is a virtual tube enveloping the respective end points of the robot manipulator.

According to a further advantageous embodiment, a jacket surface of the virtual hose maintains a predetermined minimum distance from the respective end points.

According to a further advantageous embodiment, the computing unit is designed to determine a plurality of predicted end points for at least one of the respective starting points by the braking simulation, and for the at least one of the starting points, a respective braking simulation with different parameters of the brake controller and / or with different sequences of Perform activations of individual brakes of the robot manipulator and / or with different poses of a redundant robot manipulator repeatedly during braking.

According to a further advantageous embodiment, the computing unit is designed to select the plurality of starting points on the trajectory in such a way that the robot manipulator traverses the starting points at equidistant points in time when moving along the trajectory.

Further advantages and preferred developments of the proposed robot system result from an analogous and analogous transfer of the statements made above in connection with the proposed method.

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

• 1 ein Verfahren gemäß einem Ausführungsbeispiel der Erfindung, und
• 2 ein Robotersystem gemäß einem weiteren Ausführungsbeispiel der Erfindung.
• Die Darstellungen in den Figuren sind schematisch und nicht maßstäblich. Das Verfahren der 1 wird dabei auf einem Robotersystem 100 der 2 ausgeführt. Die Erklärungen der 1 können dabei auch zum Verständnis der 2 herangezogen werden und umgekehrt.

Show it:

• 1 a method according to an embodiment of the invention, and
• 2 a robot system according to a further embodiment of the invention.
• The representations in the figures are schematic and not to scale. The procedure of 1 is doing this on a robotic system 100 the 2 executed. The explanations of the 1 can also help to understand the 2 can be used and vice versa.

• - Vorgeben S1 einer geplanten Trajektorie 3 des Endeffektors des Robotermanipulators 1 durch eine manuelle Eingabe an dem Anwenderrechner 7, der mit der Recheneinheit 13 des Robotermanipulators 1 verbunden ist. Die geplante Trajektorie 3 weist eine in einem erdfesten Koordinatensystem vorgegebene Bahnkurve 3 auf und enthält Vorgaben über die Geschwindigkeit des Endeffektors des Robotermanipulators 1 über den Verlauf der Bahnkurve 3.
• - Vorgeben S2 einer Vielzahl von Startpunkten 5 auf der Trajektorie 3. Die Vielzahl der Startpunkte 5 auf der Trajektorie 3 werden dabei so gewählt, dass die Startpunkte 5 vom Robotermanipulator 1 beim Abfahren der Trajektorie 3 zu äquidistanten Zeitpunkten und zwar in der Taktrate der Recheneinheit 13, nämlich 1ms, durchfahren werden. Symbolisch sind in der 2 weniger Startpunkte 5 dargestellt, da über eine Bahnkurve von einem Meter in der Geschwindigkeit von einem Zehntel Meter pro Sekunde die ungefähre Zeit zum Abfahren zehn Sekunden und damit die Zahl der Startpunkte Zehntausend beträgt.
• - für jeden der Startpunkte 5: Ermitteln S3 eines jeweiligen prädizierten Endpunktes 6 des Robotermanipulators 1 nach einer am jeweiligen Startpunkt 5 eingeleiteten Bremsung des Robotermanipulators 1 mittels einer Bremssimulation. Der Einfachheit halber sind in der 2 nur zwei Endpunkte 6, und zwar für den letzten der Startpunkte 5 dargestellt. Für alle der jeweiligen Startpunkte 5 wird eine Vielzahl von prädizierten Endpunkten 6 durch die Bremssimulation ermittelt, indem die Bremssimulation an jedem der Startpunkte 5 mit verschiedenen Parametern des Bremsreglers für die Bremsung wiederholt durchgeführt wird.
• - Ermitteln S4 des Bremsbereichs aus allen prädizierten Endpunkten 6 des Robotermanipulators 1, sodass die prädizierten Endpunkte 6 des Robotermanipulators 1 innerhalb des Bremsbereichs liegen. Die Mantelfläche des virtuellen Schlauchs 9 ist dabei in einem vorgegebenen Mindestabstand zu den jeweiligen Endpunkten 6 definiert.
• - Anpassen S5 der geplanten Trajektorie 3, wenn ein Vergleich des ermittelten Bremsbereiches mit einer Sicherheitsanforderung ein negatives Ergebnis liefert. Das Anpassen der geplanten Trajektorie 3 erfolgt durch Ermitteln eines zulässigen Arbeitsraumes abhängig von dem ermittelten Bremsbereich.
• - Abfahren S6 der angepassten Trajektorie 3.

1 shows a method for determining a braking range of a robot manipulator 1 when following a trajectory 3 , comprising the steps:

• - Pretend S1 a planned trajectory 3 of the end effector of the robot manipulator 1 by manual entry on the user computer 7th , the one with the computing unit 13 of the robot manipulator 1 connected is. The planned trajectory 3 has a trajectory given in a fixed coordinate system 3 and contains specifications about the speed of the end effector of the robot manipulator 1 over the course of the trajectory 3 .
• - Pretend S2 a variety of starting points 5 on the trajectory 3 . The multitude of starting points 5 on the trajectory 3 are chosen so that the starting points 5 from the robot manipulator 1 when following the trajectory 3 at equidistant times in the clock rate of the computing unit 13 , namely 1ms. Symbolic are in the 2 fewer starting points 5 shown, because over a trajectory of one meter at a speed of one tenth of a meter per second the approximate time to travel is ten seconds and thus the number of starting points is ten thousand.
• - for each of the starting points 5 : Determine S3 of a respective predicted endpoint 6th of the robot manipulator 1 after one at the respective starting point 5 initiated braking of the robot manipulator 1 by means of a brake simulation. For the sake of simplicity, the 2 only two endpoints 6th for the last of the starting points 5 shown. For all of the respective starting points 5 will have a variety of predicted endpoints 6th determined by the brake simulation by applying the brake simulation to each of the starting points 5 is carried out repeatedly with different parameters of the brake controller for the braking.
• - Determine S4 of the braking range from all predicted endpoints 6th of the robot manipulator 1 so that the predicted endpoints 6th of the robot manipulator 1 are within the braking range. The outer surface of the virtual hose 9 is at a specified minimum distance from the respective end points 6th Are defined.
• - To adjust S5 the planned trajectory 3 if a comparison of the determined braking range with a safety requirement gives a negative result. Adjusting the planned trajectory 3 takes place by determining a permissible working space depending on the determined braking range.
• - Depart S6 the adapted trajectory 3 .

• - Vorgeben einer geplanten Trajektorie 3 des Robotermanipulators 1,
• - Vorgeben einer Vielzahl von Startpunkten 5 auf der Trajektorie 3,
• - für jeden der Startpunkte 5: Ermitteln eines jeweiligen prädizierten Endpunktes 6 des Robotermanipulators 1 nach einer am jeweiligen Startpunkt 5 eingeleiteten Bremsung des Robotermanipulators 1 mittels einer Bremssimulation, und
• - Ermitteln des Bremsbereichs aus der Vielzahl der jeweiligen prädizierten Endpunkte 6 des Robotermanipulators 1, sodass die prädizierten Endpunkte 6 des Robotermanipulators 1 innerhalb des Bremsbereichs liegen.

2 shows a robotic system 100 for determining a braking range of a robot manipulator 1 of the robot system when following a trajectory 3 , having a computing unit 13 which is carried out for:

• - Specifying a planned trajectory 3 of the robot manipulator 1 ,
• - Specifying a large number of starting points 5 on the trajectory 3 ,
• - for each of the starting points 5 : Determination of a respective predicted endpoint 6th of the robot manipulator 1 after one at the respective starting point 5 initiated braking of the robot manipulator 1 by means of a brake simulation, and
• - Determining the braking range from the large number of the respective predicted end points 6th of the robot manipulator 1 so that the predicted endpoints 6th of the robot manipulator 1 are within the braking range.

List of reference symbols

1

Robotic manipulator

3

Trajectory

5

Starting point

6th

End point

7th

Input unit

9

virtual hose

11

brake

13

Arithmetic unit

100

Robotic system

S1

Pretend

S2

Pretend

S3

Determine

S4

Determine

S5

To adjust

S6

Depart

Claims (8)

A method for determining a braking range of a robot manipulator (1) when following a trajectory (3), comprising the steps: - presetting (S1) a planned trajectory (3) of the robot manipulator (1), - presetting (S2) a multiplicity of starting points (5 ) on the trajectory (3), - for each of the starting points (5): determining (S3) a respective predicted end point (6) of the robot manipulator (1) after a braking of the robot manipulator (1) initiated at the respective starting point (5) by means of a Brake simulation, - Determination (S4) of the braking range from the large number of the respective predicted end points (6) of the Robot manipulator (1) so that the predicted end points (6) of the robot manipulator (1) lie within the braking area, the braking area being a virtual hose (9) enveloping the respective end points (6) of the robot manipulator (1), - Adapting (S5) the planned trajectory (3) if a comparison of the determined braking range with a safety requirement yields a negative result, and - driving (S6) the adapted trajectory (3). Procedure according to Claim 1 , whereby the adaptation of the planned trajectory (3) takes place by determining a permissible working space as a function of the determined braking range. Method according to one of the preceding claims, wherein the brake simulation is carried out in each case with a predetermined parameter of a brake controller of the brake simulation and the parameter of the brake controller is predetermined by a manual input by a user on an input unit (7) connected to the robot manipulator (1). Procedure according to Claim 1 , wherein a jacket surface of the virtual hose (9) maintains a predetermined minimum distance from the respective end points (6). Method according to one of the preceding claims, wherein a plurality of predicted end points (6) are determined by the braking simulation for at least one of the respective starting points (5), wherein for the at least one of the starting points (5) a respective braking simulation with different parameters of the brake controller and / or with different sequences of activations and / or failures of individual brakes (11) of the robot manipulator (1) and / or with different poses of a redundant robot manipulator (1) during braking. Method according to one of the Claims 1 to 5 , each adjacent starting points (5) having the same path distance. Method according to one of the Claims 1 to 5 , wherein the plurality of starting points (5) on the trajectory (3) are selected so that the starting points (5) are traversed by the robot manipulator (1) when the trajectory (3) is traversed at equidistant points in time. Robot system (100) for determining a braking area of a robot manipulator (1) of the robot system when traveling along a trajectory (3) and for traveling along the trajectory (3), having a computing unit (13) which is designed to: - Specifying a planned trajectory (3) of the robot manipulator (1), - Presetting a large number of starting points (5) on the trajectory (3), - for each of the starting points (5): determining a respective predicted end point (6) of the robot manipulator (1) after braking the robot manipulator (1) initiated at the respective starting point (5) by means of a brake simulation, - Determination of the braking area from the plurality of the respective predicted end points (6) of the robot manipulator (1), so that the predicted end points (6) of the robot manipulator (1) lie within the braking area, the braking area being the respective end points (6) of the robot manipulator ( 1) enveloping virtual tube (9), - Adaptation of the planned trajectory (3) if a comparison of the determined braking range with a safety requirement provides a negative result, and - Moving along the adapted trajectory (3).

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