EP2125300A1 - Einrichtung zum steuern eines roboters - Google Patents
Einrichtung zum steuern eines robotersInfo
- Publication number
- EP2125300A1 EP2125300A1 EP08701126A EP08701126A EP2125300A1 EP 2125300 A1 EP2125300 A1 EP 2125300A1 EP 08701126 A EP08701126 A EP 08701126A EP 08701126 A EP08701126 A EP 08701126A EP 2125300 A1 EP2125300 A1 EP 2125300A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- signals
- control unit
- unit
- robot control
- Prior art date
- Legal status (The legal status 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 status listed.)
- Ceased
Links
- 230000009466 transformation Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- G05B2219/39394—Compensate hand position with camera detected deviation, new end effector attitude
Definitions
- the invention relates to a device for controlling a robot.
- Robots are used to process (of workpieces, in particular for. Example, for processing motor vehicle bodies, for example for welding or painting of car bodies.
- the position and / or shape of the workpiece do not correspond exactly to the position and / or shape of the workpiece, which should be theoretically predetermined, z. B. it may be that edges of two pieces of sheet metal to be welded together are not exactly in the predetermined line, but obliquely thereto or both edges can form an angle with each other.
- a sensor system which detects the actual conditions and controls the robot accordingly.
- One method is to record the actual position and / or shape of the workpiece by means of a digital camera and to record and process the signals in an image acquisition and image processing device and to supply these signals to the robot control unit so that the robot compares the actual values can be controlled with the setpoints of the movement.
- the robot moves a certain distance, stops taking an image that is being processed while the robot moves on to the next image acquisition point. This means that only discrete points in the control of a robot can be considered and the application cycle time can not be further reduced.
- the object of the invention is to further improve a device of the type mentioned above, that the cycle time can be further reduced.
- the invention accordingly consists in that the device for controlling a robot, with a robot control unit, with at least one sensor which generates a robot-mounted signal, the output signals of which are a signal acquisition device.
- the output signals of the signal detection unit connected to the at least one sensor can be supplied to a signal processing device connected thereto and to a coordinate transformation device in which the signals coming from the signal image processing device and the robot control unit are processed into robot control signals which in turn are the robot control unit provided for controlling the robot movement, wherein the signals supplied from the robot control unit to the coordinate transformation unit are real-time robot data signals.
- the movement data of the robot or the movement data of the tool center point are supplied in real time to the signal acquisition unit and / or the image processing device.
- the device for controlling a robot is accordingly composed of a robot control unit, preferably of at least one robot-mounted camera whose output signals can be fed to an image acquisition unit, wherein the output signal of the image acquisition unit connected to the camera can be fed to an image processing unit connected to the image acquisition device, and formed from a coordinate transformation device in that the signals originating from the image processing device and the robot control unit are processed into robot control signals, which in turn are supplied to the robot control unit for controlling the robot movement, wherein the signals supplied from the robot control unit to the coordinate transformation unit via a signal line are real time robot data signals.
- the robot control unit with the real-time robot data interface generates predicted and optionally current data of the tool center point of the robot with corresponding time markers. These data are calculated within the robot control unit with high accuracy and high update rates.
- the camera is held by the robot and connected to the image processing unit, which according to the invention consists of three subunits:
- the image processing device designed for example as a computer program product, may be located on an external computer or within the robot control unit but may also be part of the camera. It communicates with the robot control software modules via the above-mentioned real-time robot data interface.
- the system times of the robot unit and possibly external computer unit must be synchronized;
- the synchronization is based on a common time reference. This can be effected by methods known per se.
- the image capture can be triggered or untriggered.
- a trigger signal either digital or analog
- the image processing device performs the image processing during each internal process loop.
- the current time is captured and associated with the image data and any subsequent data associated with the image.
- the signals transmitted by the camera into the image acquisition unit are assigned to one another in accordance with the coordinate system of the camera, whereas the image coordinate system is a two-dimensional coordinate system, whereas with a distance measurement or two appropriately assigned cameras depending on the arrangement of a camera, a three-axis, spatial Coordinate system can be used. If several cameras are provided, the images are arranged in a common overall coordinate system, so that it is easy to determine where the object is located.
- These two-dimensional or three-dimensional data generated in the image processing device are converted in the coordinate transformation device into those coordinates that are assigned to the robot, so that the robot control unit is able to perform the AüSyänyssiyiiaie the Koor ⁇ inatentransformations worn record and process further. Coordinate transformations are carried out according to methods known per se, so that they will not be described in more detail here.
- the position of the camera at the time of image acquisition which can be calculated by interpolation, using the predicted robot tool center point data.
- the current robot tool center point data may be used to additionally provide improved proximity.
- These positions may be utilized by a process control unit or used for the robot control unit for further processing, i. for a regulation of the robot.
- a camera with a distance sensor can be used, whereby the position of the object can be determined in space.
- two cameras can be used, which allow a three-dimensional image capture.
- other sensors with distance measuring devices with which the position and / or shape of the workpiece to be machined can be determined in space.
- FIG. 1 A schematic flow diagram representation of the device according to the invention.
- a Rohnter 10 carries crr, free EnJe his movable arm 11, a digital camera 12, the output signals via a signal line 13 of an image acquisition unit 14 are supplied.
- the output signals of the image acquisition unit 14 are supplied to an image processing device 15 whose output signals are forwarded to a coordinate transformation unit 16.
- the robot 10 is controlled by a robot control unit 17, which transmits to the coordinate transformation unit 16 via a first signal line 18 real-time robot data.
- the signals supplied from the image processing device 15 and from the robot controller 17 to the coordinate transformation unit 16 are processed there, transformed into robot readable or interpretable coordinates, and supplied to the robot control unit 17 via a second signal line 19, thereby establishing a control loop for the robot controller ,
- the signal lines 13, 18, and 19 may be formed by connecting lines; Bus connections or internal data connections can also be used.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007008903A DE102007008903A1 (de) | 2007-02-23 | 2007-02-23 | Einrichtung zum Steuern eines Roboters |
PCT/EP2008/000278 WO2008101568A1 (de) | 2007-02-23 | 2008-01-16 | Einrichtung zum steuern eines roboters |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2125300A1 true EP2125300A1 (de) | 2009-12-02 |
Family
ID=39322522
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08701126A Ceased EP2125300A1 (de) | 2007-02-23 | 2008-01-16 | Einrichtung zum steuern eines roboters |
Country Status (5)
Country | Link |
---|---|
US (1) | US20100017032A1 (de) |
EP (1) | EP2125300A1 (de) |
CN (1) | CN101616776A (de) |
DE (1) | DE102007008903A1 (de) |
WO (1) | WO2008101568A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4844453B2 (ja) * | 2007-04-09 | 2011-12-28 | 株式会社デンソーウェーブ | ロボットの教示装置及び教示方法 |
DE102007060653A1 (de) * | 2007-12-15 | 2009-06-18 | Abb Ag | Positionsermittlung eines Objektes |
NO330598B1 (no) * | 2010-03-10 | 2011-05-23 | Seabed Rig As | Fremgangsmåte og anordning for å sikre drift av automatisk eller autonomt utstyr |
JP5803155B2 (ja) * | 2011-03-04 | 2015-11-04 | セイコーエプソン株式会社 | ロボット位置検出装置及びロボットシステム |
US9675419B2 (en) | 2013-08-21 | 2017-06-13 | Brachium, Inc. | System and method for automating medical procedures |
CN105395295B (zh) * | 2015-11-24 | 2017-05-10 | 张海钟 | 一种用于口腔和牙齿治疗的机器人系统 |
US11154375B2 (en) | 2018-02-02 | 2021-10-26 | Brachium, Inc. | Medical robotic work station |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07104692B2 (ja) * | 1986-10-02 | 1995-11-13 | トヨタ自動車株式会社 | 予見追跡制御型ロボツト |
DE3635076A1 (de) * | 1986-10-15 | 1988-04-28 | Messerschmitt Boelkow Blohm | Roboteranlage mit beweglichen manipulatoren |
US5579444A (en) * | 1987-08-28 | 1996-11-26 | Axiom Bildverarbeitungssysteme Gmbh | Adaptive vision-based controller |
US4907169A (en) * | 1987-09-30 | 1990-03-06 | International Technical Associates | Adaptive tracking vision and guidance system |
US4969108A (en) * | 1988-04-08 | 1990-11-06 | Cincinnati Milacron Inc. | Vision seam tracking method and apparatus for a manipulator |
US4952772A (en) * | 1988-11-16 | 1990-08-28 | Westinghouse Electric Corp. | Automatic seam tracker and real time error cumulative control system for an industrial robot |
JP2779072B2 (ja) * | 1991-01-28 | 1998-07-23 | ファナック株式会社 | ロボットの教示方法 |
JP3173042B2 (ja) * | 1991-05-21 | 2001-06-04 | ソニー株式会社 | ロボットの数値制御装置 |
DE19814779A1 (de) * | 1998-04-02 | 1999-10-07 | Vitronic Dr Ing Stein Bildvera | Verfahren und Vorrichtung zum Steuern eines beweglichen Gegenstandes |
JP3300682B2 (ja) * | 1999-04-08 | 2002-07-08 | ファナック株式会社 | 画像処理機能を持つロボット装置 |
DE10133624A1 (de) * | 2000-07-13 | 2002-01-24 | Rolf Kleck | Vorrichtung und Anordnung zur Ermittlung von korrigierten Bewegungsdaten für einen vorgegebenen Bewegungsablauf einer bewegbaren Einrichtung sowie bewegbare Einrichtung und System aus bewegbaren Einrichtungen |
JP2003148914A (ja) * | 2001-11-08 | 2003-05-21 | Fanuc Ltd | 位置検出装置及び位置検出を利用した取出し装置 |
JP3994950B2 (ja) * | 2003-09-19 | 2007-10-24 | ソニー株式会社 | 環境認識装置及び方法、経路計画装置及び方法、並びにロボット装置 |
JP2005108144A (ja) * | 2003-10-02 | 2005-04-21 | Fanuc Ltd | ロボットの補正データ確認装置 |
WO2005039836A2 (de) * | 2003-10-20 | 2005-05-06 | Isra Vision Systems Ag | Verfahren zur einrichtung einer bewegung eines handhabungsgeräts und bildverarbeitung |
JP3946711B2 (ja) * | 2004-06-02 | 2007-07-18 | ファナック株式会社 | ロボットシステム |
-
2007
- 2007-02-23 DE DE102007008903A patent/DE102007008903A1/de not_active Withdrawn
-
2008
- 2008-01-16 CN CN200880005663A patent/CN101616776A/zh active Pending
- 2008-01-16 WO PCT/EP2008/000278 patent/WO2008101568A1/de active Application Filing
- 2008-01-16 EP EP08701126A patent/EP2125300A1/de not_active Ceased
-
2009
- 2009-08-21 US US12/545,302 patent/US20100017032A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2008101568A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2008101568A1 (de) | 2008-08-28 |
WO2008101568A8 (de) | 2008-10-23 |
US20100017032A1 (en) | 2010-01-21 |
CN101616776A (zh) | 2009-12-30 |
DE102007008903A1 (de) | 2008-08-28 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: FROHBERGER, ANKE Inventor name: DAI, FAN Inventor name: UNGER, JOACHIM Inventor name: MATTHIAS, BJOERN |
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17Q | First examination report despatched |
Effective date: 20091217 |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: UNGER, JOACHIM Inventor name: FROHBERGER, ANKE Inventor name: MATTHIAS, BJOERN Inventor name: DAI, FAN |
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DAX | Request for extension of the european patent (deleted) | ||
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Effective date: 20110228 |