DE102019211270B3 - Controlling a Robot - Google Patents

Abstract

An input device according to the invention for controlling a robot (1) has, in one embodiment, a first input means (10) for commanding a movement of a robot-fixed reference in a predetermined first degree of freedom relative to an in particular environment-related, predetermined first reference system (xb, zb) and a second Input means (20) for commanding a movement of the robot-fixed reference in a predetermined second degree of freedom relative to an, in particular robot-related, predetermined second reference system (xt, yt), wherein the first and second input means can be actuated without switching between the two reference systems, and / or a first further input means (30) for commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the first reference system, the first degree of freedom being a rotation of the robot-fixed reference, in particular one, in particular the predetermined, robot-fixed Re reference axis, in particular impact direction of a robot-guided tool or workpiece, about an axis perpendicular to the reference axis and a normal of a predetermined reference plane of the reference system and about a pivot point, and the first further degree of freedom is a rotation of the robot-fixed reference, in particular reference axis, about the normal and about a , in particular the pivot point.

Description

The present invention relates to an input device, in particular a mobile device, and a method for controlling a robot, as well as a system with the input device and a computer program product for performing the method.

In practice, movements of an end effector of a robot should often be commanded manually via input devices, for example in order to teach end effector poses or the like.

According to in-house practice, input devices have input means for commanding movements of the end effector in various predetermined degrees of freedom relative to a predetermined reference system, in particular relative to an environment-related reference system or relative to a robot-related reference system.

By degrees of freedom relative to an environment-related reference system that is specified on the basis of a workpiece, for example end effector paths along edges, desired weld seams or other workpiece-specific processing paths, for example painting paths, can be commanded particularly advantageously.

By degrees of freedom relative to an endeffector-fixed reference system, which is specified using a robot-guided tool, it is particularly advantageous, for example, to command a workpiece to be approached in the direction of impact of the tool or to rotate the tool about its direction of impact.

Disadvantageously, one of these reference systems has to be preselected in order to then be able to command in this, which places high demands especially on inexperienced users: for example, if a user has commanded a movement of a tool up to an end point in the workpiece-fixed reference system and now wants the tool against his If the direction of impact lift from the workpiece, he must first switch to the tool-fixed reference system, select the corresponding degree of freedom in this and then command a movement in the correct direction in this degree of freedom.

In addition, according to in-house practice, coordinate axes of these reference systems are provided for commanding changes in orientation, for example in the form of Euler angles around these axes, so that approaching the desired orientations is particularly demanding for inexperienced users.

The DE 10 2018 109 304 A1 relates to an operating device that can safely prevent a robot from unintentionally moving in real space by a user, the operating device comprising a touch screen that displays an image of a robot model and receives touch inputs, a model movement execution unit that the robot model according to touch inputs by touching the Surface of the touch screen moves, a robot movement button to move the robot in real space, a movement input detection unit that detects an input to the robot movement button, and a real machine movement command unit that outputs commands that the robot performs the same movement as the movement performed by the model movement execution unit Let the robot model run in real space as long as the input on the robot movement button is continuously detected.

The DE 10 2018 009 025 A1 relates to a robot control device provided with a display unit for displaying a three-dimensional image of a movement coordinate system and a robot, and with an input unit including keys corresponding to the coordinate axes of the movement coordinate system, the input unit being designed so that an operator can edit an image on the display unit.

The DE 10 2012 021 374 B4 relates to a robot programming device comprising: a machining line determining unit that determines a machining line; an operation mode determination unit that determines an operation mode of a learning point; a program generation unit that generates an operation program for the robot based on the machining line and the operation mode; an impairment target determining unit that determines a non-machining tool portion as an impairment target; an impairment determination unit that determines an impairment between the robot or the non-machining tool portion at a learning point; a non-interference position searching unit that searches for a non-interference position; and a correction unit that corrects a position of the learning point based on a search result.

The DE 697 35 269 T2 relates to an inching feed method for an industrial robot using a graphic display of a robot in combination with a pointing device. The JP 2015-147 259 A relates to a teaching device for a robot comprising: a display section for displaying an image; an operation section for receiving an operation for instructing a Position in the plane, a position within an image plane of the image; an image control section for controlling a three-dimensional image of the robot to be displayed by the display section; and a detection section for detecting an operating point of the robot.

The JP H08-297 509 A relates to an instruction console panel provided with a graphic display / operation part for moving the robot according to instruction contents, the graphic display / operation part having a display 41 and control buttons 42-47 Is provided.

The object of the present invention is to improve the control of a robot, in particular to reduce, in particular to avoid, one or more of the disadvantages mentioned above.

This object is achieved by an input device with the features of claims 1 and / or 3. Claims 10-12 provide a method or system for controlling a robot with (the aid) of an input device described here or a computer program product for performing a method described here under protection. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, an input device for controlling a robot is provided, in particular set up, or is used for this purpose.

In one embodiment, the input device is a portable or mobile device, in particular a hand-held device and / or with a robot controller, in particular via at least one line or wirelessly, in particular via a radio link, (communication) connected or provided for this purpose, in particular set up or being used for this.

Using a portable or mobile device, a user can advantageously command the robot from favorable positions, a line connection to the robot controller reduces susceptibility to interference, and a wireless (communication) connection prevents impairments of the robot.

In one embodiment, the robot has a robot arm and / or an end effector and / or at least three, in particular at least six, in one embodiment at least seven, axes of movement or joints, in particular swivel joints, in particular a robot arm with an end effector and / or at least three, in particular at least six, in one embodiment at least seven, axes of movement or joints, in particular swivel joints. With at least six axes of movement or joints, the end effector can be shifted and rotated in three spatial directions in one embodiment, with at least seven in one embodiment it can realize the same pose with different robot positions and thereby in particular bypass obstacles.

According to one embodiment of the present invention, the input device has a first input means with which a movement of a robot-fixed reference in a predetermined first degree of freedom relative to a predetermined, in particular (differently) predeterminable or changeable, first, in one embodiment, environment-related (predefined, reference system is commanded or can be commanded or that is provided for this purpose, in particular set up or used.

According to one embodiment of the present invention, the input device additionally has a second input means with which a movement of the robot-fixed reference in a predetermined second degree of freedom relative to a predetermined, in particular (differently) predefinable or changeable, second, in one embodiment robot-related (predefined, Reference system is commanded or can be commanded or which is provided for this purpose, in particular set up or used.

According to one embodiment of the present invention, the first input means and the second input means are or are operated or provided for this purpose, in particular set up or used, without switching between the two reference systems, in particular without switching a display and / or user interface of the input device . In one embodiment, the first and second input means are thus available simultaneously at at least one point in time or, at least one point in time, a movement in the predetermined first degree of freedom relative to the first reference system or by input using the second input means can be made a movement in the predetermined second degree of freedom relative to the second reference system can be commanded.

As a result, in particular by making input options available in two different predefined reference systems at the same time, in particular in an environment-related and a robot-related reference system at the same time, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be improved in one embodiment , in particular intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, the robot-fixed reference is stationary relative to a distal (st) robot member, in particular an end effector, in one embodiment a robot-guided tool or workpiece; it can in particular have the tool center point (“TCP”), in particular it can be this.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

According to one embodiment of the present invention, the input device, in particular in addition or as an alternative to the second input means, has a first further input means with which a movement of the robot-fixed reference is commanded or can be commanded in a predetermined first further degree of freedom relative to the first reference system that is provided, in particular set up or used for this purpose, wherein in a further development the second input means and the first further input means can be or can be actuated or actuated without switching between the two reference systems, in particular without switching a display and / or user interface of the input device. provided for this purpose, in particular set up or used.

Additionally or alternatively, the input device in one embodiment has a first different input means with which a movement of the robot-fixed reference is commanded or can be commanded in a predetermined first different degree of freedom relative to the second reference system or which is provided for this purpose, in particular set up or. is used, the first input means and the first other input means being operated or operable or provided for this purpose, in particular set up or used, without switching between the two reference systems, in particular without switching a display and / or user interface of the input device.

In one embodiment, the first input means and the second input means as well as the first further input means and / or the first other input means are thus available simultaneously at least at one point in time or, at least one point in time, a movement in the predetermined one can also be made by inputting via the first input means first degree of freedom or by input via the second input means a movement in the predetermined second degree of freedom or by input via the first further or other input means a movement in the predetermined first further or other degree of freedom can be commanded.

As a result, in each case, in particular in combination, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular carried out (still) more intuitively, more precisely, faster and / or with a lower error rate will.

In one embodiment, the input device has a second further input means with which a movement of the robot-fixed reference in a predetermined second further degree of freedom relative to the first reference system or a or the predetermined, in particular (differently) predeterminable or changeable, second, in a Execution robot-related (specified, reference system is commanded or can be commanded or which is provided for this purpose, in particular set up or used, wherein in one embodiment the first input means and the first further input means and the second input means and / or the second further input means without Switching between the two reference systems, in particular without switching over a display and / or user interface of the input device, is actuated or can be actuated or is intended for this purpose, in particular is set up or used.

Additionally or alternatively, the input device in one embodiment has a second other input means with which a movement of the robot-fixed reference in a predetermined second different degree of freedom relative to the first or one or the predetermined, in particular (differently) predeterminable or changeable, second, In one embodiment, robot-related (predetermined reference system is commanded or can be commanded or that is provided, in particular set up or used for this purpose, in one embodiment the first input means and the second other input means and the second input means and / or first further input means without switching between the two reference systems, in particular without switching the input device, in particular a display and / or User interface, actuated or actuatable or provided for this purpose, in particular set up or used.

In one embodiment, the first input means and the second input means and the first further input means and the second further input means and the first other input means and the second other input means are or will be without switching between the two reference systems, in particular without switching the input device, in particular a display and / or user interface, actuated or actuatable or provided for this purpose, in particular set up or used.

In one embodiment, the first input means and the second input means as well as the first further input means and / or the first other input means and / or the second further input means and / or the second other input means are simultaneously available or can at least at a point in time by input via the first input means a movement in the predetermined first degree of freedom or by input via the second input means a movement in the predetermined second degree of freedom or by input via the first further or other input means a movement in the predetermined first further or other input means. another degree of freedom or by input via the second further or other input means a movement in the predetermined second further or other degree of freedom can be commanded.

As a result, in one embodiment, the robot-fixed reference can advantageously be moved in all six (rigid body) degrees of freedom in the (visual) space or its six (rigid body) degrees of freedom can be used in the (visual) space.

In one embodiment, one or more of the degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, (each) is a translational degree of freedom , especially along a straight line. Additionally or alternatively, one or more of the degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, in one embodiment (each) a rotational degree of freedom.

Additionally or alternatively, one or more of the degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, in one embodiment (each) a degree of freedom of one or the predetermined robot-fixed reference axis, in particular the predetermined impact direction of a robot-guided tool or workpiece, relative to an environment-related reference system, in particular the environment-related first reference system.

Additionally or alternatively, one or more of the degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, in one embodiment (each) a degree of freedom of a or the predetermined robot-fixed reference axis, in particular the predetermined impact direction of a robot-guided tool or workpiece, relative to a robot-related reference system, in particular the robot-related second reference system.

In a further development, one or more of the degrees of freedom or a movement in this or one of these degrees of freedom is a displacement of the robot-fixed reference, in particular the reference axis, relative to an environment-related reference system, in particular the environment-related first reference system.

In one embodiment of this development, one of the degrees of freedom or a movement in this degree of freedom is a displacement of the robot-fixed reference, in particular the reference axis, along a, in particular (differently) predeterminable, in particular selectable, axis of a predetermined reference plane of the environment-related reference system and at least one different from this Degrees of freedom or a movement in this degree of freedom a displacement of the robot-fixed reference, in particular the reference axis, along an axis of the predetermined reference plane that is different from this, in particular (differently) predefinable, in particular selectable, and / or perpendicular thereto. These two degrees of freedom can in particular be the second further and second other degrees of freedom.

Additionally or alternatively, in a further development one or more of the degrees of freedom or a movement in this or one of these degrees of freedom (s) is a shift of the robot-fixed reference, in particular the reference axis, relative to a robot-related reference system, in particular the robot-related second frame of reference.

In one embodiment of this development, at least one of the degrees of freedom is a displacement of the robot-fixed reference, in particular the reference axis, along the reference axis. This degree of freedom can in particular be the second degree of freedom.

Additionally or alternatively, in a development one or more of the degrees of freedom or a movement in this or one of these degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, relative to a robot-related reference system, in particular the robot-related second frame of reference.

In one embodiment of this development, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about the reference axis. This degree of freedom can in particular be the first other degree of freedom.

Additionally or alternatively, according to an embodiment of the present invention, one or, according to an embodiment of the present invention, several of the degrees of freedom or a movement in this or one of these degrees of freedom (s) is a rotation of the robot-fixed reference, in particular reference axis, relative to one environment-related reference systems, in particular the environment-related first reference system.

In a further development of this embodiment, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about an axis perpendicular to the reference axis and a normal of a or the predetermined reference plane of the reference system and / or about or in a pivot point, in particular a rotation of the robot-fixed reference (axis) in the reference plane or in the opposite direction to this in a position perpendicular to the reference plane around or in the pivot point. This degree of freedom can in particular be the first degree of freedom.

Additionally or alternatively, in a further development of this embodiment, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about one or the normal of a or the specified reference plane of the reference system and / or about one or in one, in particular the or the fulcrum, in particular a rolling of the robot-fixed reference (axis) on a cone whose tip lies in the fulcrum and whose cone axis is perpendicular to the reference plane. This degree of freedom can in particular be the first further degree of freedom.

In this way, in one embodiment, in particular in combination of two or more of the features mentioned, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) more intuitive, more precise, faster and / or with a lower error rate.

In one embodiment, the rotation of the robot-fixed reference, in particular the reference axis, is about the axis perpendicular to the reference axis and the normal of the predetermined reference plane of the reference system and / or about or in the pivot point in an area between two positions of the robot-fixed positions perpendicular to the reference plane Reference, in particular reference axis, or a range between a position of the robot-fixed reference perpendicular to the reference plane, in particular a reference axis, and a position perpendicular thereto, in particular a rotation of the robot-fixed reference (axis) maximum or up to or parallel to the Reference plane and maximally or up to a position perpendicular to the reference plane or maximally or up to two opposite positions perpendicular to the reference plane.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, the input device has an input means with which a step size of a movement, in particular a movement of the robot-fixed reference in the first degree of freedom, a movement of the robot-fixed reference in the second degree of freedom, a movement of the robot-fixed reference in the first further degree of freedom, a Movement of the robot-fixed reference in the second further degree of freedom, a movement of the robot-fixed reference in the first other degree of freedom and / or a movement of the robot-fixed reference in the second other degree of freedom, are specified, in particular (differently) predeterminable or variable, is or is or . which is provided, in particular set up or used for this purpose, this step size being or determining a step size when commanding this movement, in one embodiment the robot when the corresponding (first / second / first further / second further / first other) is actuated once / second other) input means moves the robot-fixed reference by this increment.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular can be carried out (even) more precisely and / or with a lower error rate.

Likewise, in one embodiment, the robot can also execute the commanded movement as long as the corresponding input means is activated, in particular actuated or is, possibly within a predetermined (movement) range or up to a predetermined limit.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) carried out intuitively and / or more quickly.

In one embodiment, the input device has an input means with which one of several predefined, in particular previously predefined and / or (differently) predefinable or variable and / or mutually perpendicular reference planes of the reference system is or is selected as the predefined reference plane provided for this purpose, in particular set up or used.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, one or more of the input means, in particular the first and / or second and / or first further and / or second further and / or first other and / or second other input means and / or one or more of the input means for specifying a step size and / or the input means for selecting a reference plane, (each) at least one switch, in particular a rocker switch, and / or a display device, in particular a display, preferably a touch display, and / or for displaying the commandable movement. In one embodiment, the display device displays a predetermined direction of this commandable movement or is provided for this purpose, in particular set up or is used for this purpose. In one embodiment, the specified direction is that direction in which the commandable movement takes place when the input means, in particular the corresponding switch, is operated in a specified direction. In particular, the display device thus shows in one embodiment, preferably in the form of an arrow and / or a “+” symbol, a direction in which the commandable movement takes place when the input means, in particular the corresponding switch, is in a predetermined, preferably again is actuated by an arrow and / or a “+” symbol, or is provided for this purpose, in particular set up or is used for this purpose.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des ersten Eingabemittels.

According to one embodiment of the present invention, a method for controlling the robot with the aid of an input device described here has the step:

• - Commanding a movement of the robot-fixed reference by means of the first input means.

• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des ersten weiteren Eingabemittels.

According to one embodiment of the present invention, the method additionally has the step:

• - Commanding a movement of the robot-fixed reference by means of the first further input means.

• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des zweiten Eingabemittels ohne Umschalten zwischen den beiden Bezugssystemen.

Additionally or alternatively, the method according to an embodiment of the present invention has the step:

• Commanding a movement of the robot-fixed reference by means of the second input means without switching between the two reference systems.

• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des ersten weiteren Eingabemittels ohne Umschalten zwischen den beiden Bezugssystemen; und/oder
• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des ersten anderen Eingabemittels, insbesondere ohne Umschalten zwischen den beiden Bezugssystemen; und/oder
• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des zweiten weiteren Eingabemittels, insbesondere ohne Umschalten zwischen den beiden Bezugssystemen; und/oder
• - Kommandieren einer Bewegung der roboterfesten Referenz mittels des zweiten anderen Eingabemittels, insbesondere ohne Umschalten zwischen den beiden Bezugssystemen; und/oder
• - Vorgeben einer Schrittweite einer Bewegung mittels des Eingabemittels zum Vorgeben einer Schrittweite; und/oder
• - Auswählen einer von mehreren vorgegebenen, insbesondere zueinander senkrechten, Bezugsebenen des Bezugssystems als vorgegebene Bezugsebene mittels des Eingabemittels zum Auswählen.

In one embodiment, the method also has one or more of the steps:

• - Commanding a movement of the robot-fixed reference by means of the first further input means without switching between the two reference systems; and or
• - Commanding a movement of the robot-fixed reference by means of the first other input means, in particular without switching between the two reference systems; and or
• - Commanding a movement of the robot-fixed reference by means of the second further input means, in particular without switching between the two reference systems; and or
• - Commanding a movement of the robot-fixed reference by means of the second other input means, in particular without switching between the two reference systems; and or
• - Specifying a step size of a movement by means of the input means for specifying a step size; and or
• - Selecting one of several predetermined, in particular mutually perpendicular, reference planes of the reference system as the predetermined reference plane by means of the input means for selection.

According to one embodiment of the present invention, a system for controlling the robot has an input device described here and / or a or the robot controller for controlling the robot, in particular for controlling and / or Energy supply for its (axle) drives, on and / or is set up, in particular in terms of hardware and / or software, in particular in terms of programming, to carry out a method described here. In the present case, controlling is also understood in particular to mean regulating.

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

An input means can in particular have one or more switches implemented in hardware and / or software, in particular push switches, rocker switches, rotary switches and / or slide switches, and / or one or more displays implemented in hardware and / or software.

In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially automatically, in particular by the system. In one embodiment, the system has the robot.

In one embodiment, the environment-related reference system is or becomes stationary (specified) relative to a stationary environment element, in particular a robot cell, wall, ceiling or floor in or on which the robot is arranged; in another embodiment it leads relatively to a stationary surrounding element, in particular a predetermined movement, can in particular be stationary (predetermined) relative to a movable surrounding element, in particular a conveyor belt, conveyor table, mobile transporter or a base of the mobile robot in or on which the robot is arranged . will. In one embodiment, an environment-related reference system is or becomes stationary for a workpiece or tool to be approached, handled and / or machined by the robot (specified).

In one embodiment, a robot-related reference system is stationary (specified) relative to a member, in particular the robot-fixed reference and / or the end effector, of the robot. In one embodiment, an axis of the robot-related reference system is parallel to a or the specified robot-fixed reference axis, in particular the direction of impact of a robot-guided tool or workpiece; in a further development, the axis of the robot-related reference system and the robot-fixed reference axis or direction of impact are aligned.

In one embodiment, the first and second reference systems can be moved with respect to one another; in one embodiment, they execute a relative movement that is dependent on one another, in particular on a robot movement.

In one embodiment, the first and / or second reference system are Cartesian (coordinate) systems.

One or the pivot point of the robot-fixed reference around which or in which the robot-fixed reference, in particular the reference axis, rotates in one embodiment, in particular in one or more of the degrees of freedom, in one embodiment the first degree of freedom and / or the further first Degree of freedom, and / or about the axis perpendicular to the reference axis and normal of the specified reference plane of the reference system and / or about the normal, is or will be in one embodiment, in particular relative to the first and / or second environment-related and / or robot-related reference system, predetermined, preferably fixed or (differently) predetermined or changeable, in one embodiment it is fixed relative to the first and / or second environment-related and / or robot-related reference system; in a further development, it lies on the reference axis, in particular the direction of impact of the robot-guided tool or workpiece. In one embodiment, this pivot point is a point of penetration of the reference axis through the reference plane, a tip of the tool 2 or an origin of the robot-related reference system, in a further development, is or is selected from one of these points.

In this way, in each case, in particular in combination of two or more of the named Features, in one embodiment the control of the robot, in particular the commanding of movements of the robot-fixed reference, are (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, the first and second input means and the first further and first other input means can be actuated without switching between the two reference systems.

In one embodiment, the robot-fixed reference is a reference axis or the specified robot-fixed reference axis, in one embodiment the direction of impact of a robot-guided tool or workpiece.

In one embodiment, the first input means and the second further input means and the second input means and / or the first further input means can be operated without switching between the two reference systems.

In one embodiment, the first input means and the second other input means and the second input means and / or first further input means can be actuated without switching between the two reference systems.

In one embodiment, the first and second input means and first further and first other input means and second further and second other input means can be actuated without switching between the two reference systems.

• 1: ein System mit einem Roboter, einer Robotersteuerung und einer Eingabevorrichtung zum Steuern des Roboters nach einer Ausführung der vorliegenden Erfindung;
• 2: ein Verfahren zum Steuern des Roboters nach einer Ausführung der vorliegenden Erfindung; und
• 3: einen Teil der Eingabevorrichtung.

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

• 1 : a system including a robot, a robot controller and an input device for controlling the robot according to an embodiment of the present invention;
• 2 : a method of controlling the robot according to an embodiment of the present invention; and
• 3 : part of the input device.

1 shows a system with a six-axis robot (arm) 1 with joint coordinates q ₁ -q ₆ , a robot controller 3 and an input device in the form of a mobile device 100 to control the robot 1 according to an embodiment of the present invention, 3 part of the mobile device 100 .

As in particular in 3 recognizable, the mobile device 100 a first input means 10 to command a movement of a robot-fixed reference in the form of a TCP (in 1 through a reference axis x _t in the direction of thrust of a robot-guided tool 2 for machining a workpiece 4th , on which an environment-related first reference system x _b , z _b is indicated stationary, and a further coordinate axis of the robot (tool) fixed second reference system indicated) in a predetermined first degree of freedom relative to the predetermined first, environment-related reference system x _b , z _b on. The first input device 10 in turn has a switchable display device in the form of a display 11 for the software-based display of the commandable movement and a rocker switch implemented in hardware technology in one version 12 on.

The mobile device 100 has a second input means 20th for commanding a movement of the robot-fixed reference in a predetermined second degree of freedom relative to the robot (tool) fixed second reference system with a switchable display device in the form of a display 21st for the software-technical display of this commandable movement and a rocker switch implemented in hardware technology in one version 22nd on.

The mobile device 100 furthermore has a first further input means 30th for commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the workpiece-fixed or environment-related first reference system with a switchable display device in the form of a display 31 for the software-technical display of this commandable movement and a rocker switch implemented in hardware technology in one version 32 on.

The mobile device 100 further has a first different input means 40 for commanding a movement of the robot-fixed reference in a predetermined first different degree of freedom relative to the robot (tool) fixed second reference system with a switchable display device in the form of a display 41 for the software-technical display of this commandable movement and a rocker switch implemented in hardware technology in one version 42 on.

The mobile device 100 further has a second further input means 50 to command a movement of the robot-fixed reference in a predetermined second further degree of freedom relative to the workpiece-fixed or environment-related first reference system with a switchable display device in the form of a display 51 for the software-technical display of this commandable movement and a rocker switch implemented in hardware technology in one version 52 on.

The mobile device 100 further has a second different input means 60 for commanding a movement of the robot-fixed reference in a predetermined second other degree of freedom relative to the predetermined workpiece-fixed or environment-related first reference system with a switchable display device in the form of a display 61 for the software-technical display of this commandable movement and a rocker switch implemented in hardware technology in one version 62 on.

The mobile device 100 further has an input means for selecting one of three predetermined, mutually perpendicular reference planes of the predetermined workpiece-fixed or environment-related first reference system as a predetermined reference plane in the form of a touch display with three fields 71-73 on. In a modification that is not shown, an input means for specifying a step size can additionally or alternatively be provided.

In one step S1 (see. 2 ) a user selects one of the reference planes of the specified workpiece-fixed or environment-related first reference system as the specified reference plane, in 3 exemplarily the xy-plane, as indicated by the bordered field 71 indicated.

Accordingly, the second further degree of freedom is now a shift along the x-axis x _b the given in step S1 selected reference or xy plane of the environment-related first reference system and the second other degree of freedom a displacement along the y-axis of this reference plane. The display devices show accordingly 51 , 61 these commandable movements. If the user had stepped in instead S1 the xz plane selected would display 61 instead "Z" and the displays 51 , 61 the xz plane according to the window 72 Show.

The second degree of freedom is a displacement along the reference axis x _t relative to the robot (tool) fixed second reference system. The display device shows accordingly 21st this commandable movement, in particular by an arrow and a "+" sign, a predetermined direction of this movement, that of an actuation of the rocker switch 22nd in the "+" direction.

The first other degree of freedom is a rotation around the reference axis x _t relative to the robot (tool) fixed second reference system. The display device shows accordingly 41 this commandable movement, in particular by an arrow and a "+" sign, a predetermined direction of this movement, that of an actuation of the rocker switch 42 in the "+" direction.

The first degree of freedom is a rotation of the reference axis x _t around one to the reference axis x _t and one to z _b parallel normal of the selected reference or xy plane of the environment-related first reference system predetermined vertical axis in or around a predetermined pivot point, in one embodiment the intersection point (s) of the reference axis x _t through the reference plane, the tip of the tool 2 or the origin of the TCP. The display device shows accordingly 11 this commandable movement, in particular by an arrow and a "+" sign, a predetermined direction of this movement, that of an actuation of the rocker switch 12 in the "+" direction. In other words, the rocker switch is actuated 12 in the "+" direction, an erection of the reference axis up to one on the selected reference plane (in the example of the 3 the xy plane) vertical position.

The first further degree of freedom is a rotation of the reference axis x _t around this normal in or around the pivot point. The display device shows accordingly 31 this commandable movement.

Thus, the user operates the rocker switch 52 ( 2 : S10: "Y"), the TCP or the robot-guided tool moves 2 or the reference axis x _t along the x-axis x _b , in one version as long as the rocker switch 52 is actuated or with each (renewed) actuation (again) by a specified increment, with actuation in the "+" direction in the positive direction of the x-axis x _b , when operated in the "-" direction in the opposite direction to this ( 2 : S11).

The user operates the rocker switch 52 Not ( 2 : S10: "N"), but the rocker switch 62 ( 2 : S20: "Y"), the TCP or the robot-guided tool moves 2 or the reference axis x _t along the y-axis of the selected reference or xy plane of the environment-related first reference system, in one embodiment, as long as the rocker switch 62 is actuated or with each (renewed) actuation (again) by a specified increment, upon actuation in the "+" direction in the positive direction of the y-axis, upon actuation in the "-" direction in the opposite direction ( 2 : S21).

The user also operates the rocker switch 62 Not ( 2 : S20: "N"), but the rocker switch 22nd ( 2 : S30: "Y"), the TCP or the robot-guided tool moves 2 or the reference axis x _t along the reference axis x _t of the robot (tool) fixed second reference system, in one version as long as the rocker switch 22nd is actuated or with each (renewed) actuation (again) by a specified increment, when actuated in the "+" direction in the display device 21st indicated positive direction along the reference axis x _t , when operated in the "-" direction in the opposite direction to this ( 2 : S31).

The user operates the rocker switch 42 Not ( 2 : S30: "N"), but the rocker switch 12 ( 2 : S40: "Y"), the robot-guided tool rotates 2 around one to the reference axis x _t and one to z _b parallel normal of the selected reference or xy plane of the environment-related first reference system, predetermined vertical axis in or around the pivot point, in one embodiment, as long as the rocker switch 12 is actuated or with each (renewed) actuation (again) by a specified increment, when actuated in the "+" direction in the display device 11 displayed positive, when operated in the "-" direction in the opposite direction to this ( 2 : S41).

The user also operates the rocker switch 12 Not ( 2 : S40 : "N"), but the rocker switch 42 ( 2 : S50 : "Y"), the robot-guided tool rotates 2 around the reference axis x _t of the robot (tool) fixed second reference system, in one version as long as the rocker switch 42 is actuated or with each (renewed) actuation (again) by a specified increment, when actuated in the "+" direction in the display device 41 indicated positive direction around the reference axis x _t , when operated in the "-" direction in the opposite direction to this ( 2 : S51).

The user also operates the rocker switch 42 Not ( 2 : S50 : "N"), but the rocker switch 32 ( 2 : S60 : "Y"), the robot-guided tool rotates 2 to the z _b parallel normals of the selected reference or xy plane of the environment-related first reference system in or around the pivot point, in one embodiment as long as the rocker switch 32 is actuated or with each (renewed) actuation (again) by a specified increment, when actuated in the "+" direction in the display device 31 displayed positive, when operated in the "-" direction in the opposite direction to this ( 2 : S61).

By pressing one of the other fields 72 , 73 (Step S1 ) Instead, another one of the reference planes of the environment-related first reference system can be selected, the commandable movements described above changing accordingly and in the display devices 51 , 61 the corresponding commandable movements are displayed.

It can be seen that this results in the commanding of movements of the TCP or of the robot-guided tool 2 can be carried out very intuitively and therefore particularly precisely, quickly and with a low error rate.

List of reference symbols

1

robot

2

Tool

3

Robot control

4th

workpiece

10

first input means

11

Display device (switchable display)

12

Switch

20th

second input means

21st

Display device (switchable display)

22nd

Switch

30th

first further input means

31

Display device (switchable display)

32

Switch

40

first other input means

41

Display device (switchable display)

42

Switch

50

second further input means

51

Display device (switchable display)

52

Switch

60

second other input means

61

Display device (switchable display)

62

Switch

100

Mobile device

71-73

Input means for selecting a reference plane

q ₁ -q ₆

Joint coordinate

x _t

Reference axis (direction of impact)

y _t

Axis of the second reference system TCP which is fixed to the robot tool

x _b

Axis of the workpiece-fixed first reference system

z _b

Axis of the workpiece-fixed first reference system

Claims (12)

Input device (100) for controlling a robot (1), with: - a first input means (10) for commanding a movement of a robot-fixed reference in a predetermined first degree of freedom relative to an environment-related predetermined first reference system (x _b , z _b ); and - a second input means (20) for commanding a movement of the robot-fixed reference in a predetermined second degree of freedom relative to a robot-related predetermined second reference system (x _t , y _t ); wherein the first and second input means can be actuated without switching between the two reference systems. Input device according to Claim 1 , characterized by : - a first further input means (30) for commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the first reference system, wherein the second input means and the first further input means can be actuated without switching between the two reference systems; and / or - at least one first other input means (40) for commanding a movement of the robot-fixed reference in a predetermined first other degree of freedom relative to the second reference system, wherein the first input means and the first other input means can be actuated without switching between the two reference systems. Input device (100), in particular according to one of the preceding claims, for controlling a robot (1), having: - one or the first input means (10) for commanding a movement of a robot-fixed reference in a predetermined first degree of freedom relative to an environment-related predetermined first Reference system (x _b , z _b ); and - one or the first further input means (30) for commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the first reference system; wherein - the first degree of freedom is a rotation of the robot-fixed reference about an axis perpendicular to a predetermined robot-fixed reference axis and a normal of a predetermined reference plane of this reference system and about a pivot point; and the first further degree of freedom is a rotation of the robot-fixed reference around the normal and around a pivot point. Input device according to one of the preceding claims, characterized by : - a second further input means (50) for commanding a movement of the robot-fixed reference in a predetermined second further degree of freedom relative to the first or a predetermined second reference system; and / or - at least one second other input means (60) for commanding a movement of the robot-fixed reference in a predetermined second other degree of freedom relative to the first or a predetermined second reference system. Input device according to one of the preceding claims, characterized in that one or more of the degrees of freedom is a translational degree of freedom and / or one or more of the degrees of freedom is a rotational degree of freedom and / or one or more of the degrees of freedom is a degree of freedom of a predetermined robot-fixed reference axis (x _t ) is relative to a robot-related or environmental frame of reference. Input device according to the preceding claim, characterized in that: - one or more of the degrees of freedom is a displacement of the robot-fixed reference relative to one of the reference systems related to the environment; - One or more of the degrees of freedom is a displacement of the fixed reference system relative to a robot-related reference system; one or more of the degrees of freedom is a rotation of the robot-fixed reference relative to one of the reference systems related to the environment; and / or one or more of the degrees of freedom is a rotation of the robot-fixed reference relative to one of the reference systems related to the robot. Input device according to one of the preceding claims, characterized in that the rotation of the robot-fixed reference about the axis perpendicular to the reference axis and the normal of the predetermined reference plane of the reference system to an area between two positions of the robot-fixed reference perpendicular to the reference plane or an area between one the reference plane vertical positions of the robot-fixed reference and a position perpendicular thereto is limited. Input device according to one of the preceding claims, characterized by - an input means for specifying a step size of a movement when commanding this movement and / or - an input means (71-73) for selecting one of several predetermined reference planes of the reference system as the predetermined reference plane. Input device according to one of the preceding claims, characterized in that at least one of the input means has a switch (12, 22, 32, 42, 52, 62) and / or a display device (11, 21, 31, 41, 51, 61, 71- 73). Method for controlling a robot (1) with the aid of an input device according to one of the preceding claims, with the step: - commanding (S41) a movement of the robot-fixed reference by means of the first input means (10); and at least one of the steps: - commanding (S31) a movement of the robot-fixed reference by means of the second input means (20) without switching between the two reference systems; and / or - commanding (S61) a movement of the robot-fixed reference by means of the first further input means (31). System for controlling a robot (1), which has an input device according to one of the preceding claims 1 to 9 and / or for carrying out a method according to the preceding Claim 10 is set up. Computer program product with a program code, which is stored on a medium readable by a computer, for performing a method according to Claim 10 .

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