DK2512755T3 - Fremgangsmåde og apparat til styring af en manipulator - Google Patents

Fremgangsmåde og apparat til styring af en manipulator Download PDF

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Publication number
DK2512755T3
DK2512755T3 DK10790736.2T DK10790736T DK2512755T3 DK 2512755 T3 DK2512755 T3 DK 2512755T3 DK 10790736 T DK10790736 T DK 10790736T DK 2512755 T3 DK2512755 T3 DK 2512755T3
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DK
Denmark
Prior art keywords
workpiece
manipulator
force
control
contact
Prior art date
Application number
DK10790736.2T
Other languages
English (en)
Inventor
Simon Klumpp
Günter Schreiber
Original Assignee
Kuka Lab Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Lab Gmbh filed Critical Kuka Lab Gmbh
Application granted granted Critical
Publication of DK2512755T3 publication Critical patent/DK2512755T3/da

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1648—Programme controls characterised by the control loop non-linear control combined or not with linear control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39355—Observer, disturbance observer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41387—Observe reference torque, position and feedback position, estimate contact force
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Claims (9)

1. Fremgangsmåde til styring af en manipulator, især en robot, omfattende trinet: - registrering af en kontaktkraft mellem manipulatoren og et arbejdsemne (2; 20) baseret på faktiske drivkræfter (r) og på drivkræfter (rModeii) af en dynamisk model (Md2q/dt2 + h(q, dq/dt) = rModeii) for manipulatoren, som beskriver forholdet mellem kinematiske størrelser og drivkræfter, kendetegnet ved trinet: - samling af et arbejdsemne (4; 40) under føjelig styring (S130; S230), hvori en samletilstand af arbejdsemnet, som samles under elastisk eller plastisk deformation, overvåges på basis af en registreret nedgang i kontaktkraften.
2. Fremgangsmåde ifølge krav 1, kendetegnet ved trinet: - stift styret tilnærmelse til en stilling (S10; S110; S210); såvel som omskiftning til føjelig styring på basis af en registreret kontaktkraft (S30; S130; S230).
3. Fremgangsmåde ifølge krav 2, kendetegnet ved, at omskiftning til føjelig styring (S30; S130; S230) udføres indenfor højst 3 millisekunder efter forekomst af en kontakt (S20; S120; S220).
4. Fremgangsmåde ifølge ethvert af de foregående krav, kendetegnet ved, at der især valgfrit forudbestemmes mindst en ønsket kraft såvel som mindst en ønsket bevægelse (SI30; S230) i den føjelige styring for samling af arbejdsemnet.
5. Fremgangsmåde ifølge ethvert af de foregående krav, kendetegnet ved, at der på basis af den registrerede kontaktkraft om nødvendigt ændres en samlingstrategi, især en samlegrundposition, en slutstilling for manipulatoren opnået under den føjelige styring og/eller en hastighed eller en højere tidsafledning af manipulatoren (S150; Fig. 3A -► Fig. 3B).
6. Fremgangsmåde til styring af en manipulator ifølge ethvert af de foregående krav, omfattende trinene: - holde arbejdsemnet med manipulatoren i mindst to kraftkontakter (1.1, 1.2), - stille arbejdsemnet i en samlegrundposition (Fig. 3A), - bevæge arbejdsemnet til en samleslutposition (Fig. 3B) ved løsning af mindst en kraftkontakt (1.2).
7. Fremgangsmåde ifølge krav 6, kendetegnet ved, at en især ved en bevægelse af arbejdsemnet til samleslutpositionen løsnet kraftkontakt (1.2) er kraftsluttende, og/eller at en især ved en bevægelse af arbejdsemnet til samleslutpositionen opretholdt kraftkontakt (1.1) er formsluttende.
8. Styreindretning til en manipulator, især en robot, kendetegnet ved, at den er indrettet til at udføre en fremgangsmåde ifølge et af de foregående krav.
9. Computerprogramprodukt med en programkode lagret på en maskinlæsbar bærer og omfattende et computerprogram, som udfører en fremgangsmåde ifølge et af krav 1 til 7, når det afvikles i en styreindretning ifølge krav 8.
DK10790736.2T 2009-12-17 2010-12-08 Fremgangsmåde og apparat til styring af en manipulator DK2512755T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009058607A DE102009058607A1 (de) 2009-12-17 2009-12-17 Verfahren und Vorrichtung zum Steuern eines Manipulators
PCT/EP2010/007472 WO2011082755A1 (de) 2009-12-17 2010-12-08 Verfahren und vorrichtung zum steuern eines manipulators

Publications (1)

Publication Number Publication Date
DK2512755T3 true DK2512755T3 (da) 2015-11-16

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DK10790736.2T DK2512755T3 (da) 2009-12-17 2010-12-08 Fremgangsmåde og apparat til styring af en manipulator

Country Status (8)

Country Link
US (2) US9227321B2 (da)
EP (2) EP2512755B1 (da)
KR (1) KR101798673B1 (da)
CN (2) CN105291102B (da)
DE (1) DE102009058607A1 (da)
DK (1) DK2512755T3 (da)
ES (1) ES2552094T3 (da)
WO (1) WO2011082755A1 (da)

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Also Published As

Publication number Publication date
KR20120105531A (ko) 2012-09-25
DE102009058607A1 (de) 2011-06-22
CN102741022A (zh) 2012-10-17
WO2011082755A1 (de) 2011-07-14
KR101798673B1 (ko) 2017-11-16
CN105291102A (zh) 2016-02-03
EP2883665A2 (de) 2015-06-17
CN105291102B (zh) 2018-12-07
CN102741022B (zh) 2015-09-30
EP2512755A1 (de) 2012-10-24
US10076841B2 (en) 2018-09-18
US20160107315A1 (en) 2016-04-21
EP2883665A3 (de) 2015-10-14
EP2512755B1 (de) 2015-08-05
EP2883665B1 (de) 2019-01-30
US9227321B2 (en) 2016-01-05
ES2552094T3 (es) 2015-11-25
US20120283875A1 (en) 2012-11-08

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