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
  • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J18/00—Arms
  • B25J18/007—Arms the end effector rotating around a fixed point
• • 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
  • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
  • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
• • 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
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
  • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
• • 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
  • G05B2219/36—Nc in input of data, input key till input tape
  • G05B2219/36433—Position assisted teaching
• • 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
  • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator

Definitions

• the present invention relates to a method and apparatus for inputting one or more instructions into a controller of a manipulator.
• a manipulator is understood to mean, in particular, single- or multi-axis robots, measuring and machine tools, for example non-driven coordinate measuring machines.
• Such manipulators generally have a control for carrying out certain movements, for example for traversing predetermined trajectories, for storing certain measuring positions or the like.
• a control for example a force or position control of a robot, is therefore also referred to as a controller.
• Such commands can act directly on the manipulator via the controller or be stored in the form of a program in order subsequently be converted by the controller into a desired action of the manipulator.
• the object of the present invention is therefore to simplify a command input into a controller of a manipulator.
• the present invention is based on the idea to enter commands directly by appropriate manipulations of the manipulator. While so far, for example from EP 0 850 730 Bl, merely known to move a robot by pulling its end effector in the direction of the force acting on the end effector, the present invention enables the input of further, in particular no movement and more complex, commands according to the invention, a first force, acting on the manipulator, a sequence of a first force and a second force successively acting on the manipulator, a first movement of the manipulator, or a sequence of a first and a second movement of the manipulator with stored forces, movements or sequences is compared , each of which is assigned a command. If a force, movement or sequence is detected that corresponds to a stored force, movement or sequence, this is detected as an input of the command associated with this stored force, movement or sequence, which is output to the controller of the manipulator.
• Such force sensors may, for example, be provided on an end effector of the manipulator, a manipulator-connected guide handle or a motor of the manipulator and detect forces acting thereon, an operator directly on the end effector or the guide handle, or indirectly, for example via the end effector or the guide handle on engines of the manipulator exercises.
• a conventional industrial robot equipped with a stiff position control that holds the robot in its current position, or fixed a non-driven coordinate measuring machine with brakes in one position this or this manually by an operator can not or only slightly moved.
• the above-described detection of the forces acting in the given directions on the manipulator forces is particularly advantageous.
• an operator at a member of the robot first in a first, by a force sensor on the robot member directly or by force sensors in the drives of the robot indirectly detected direction with a predetermined minimum force pull and then in a second, detected by the same or other force sensors direction on the
• Press robot link Is this sequence of a first force in the first direction and a second force in the second direction stored as a sequence of a particular command, such as releasing a brake of a motor of the robot or the change of the parameters
• the manipulator In the first embodiment, where the forces are detected, it is not necessary for the manipulator to move at all or significantly under the forces exerted by the operator on it to input a command. This For example, in measuring machines in which the command input according to the invention does not necessarily lead to a movement of the measuring machine, associated with leaving a position just approached, is advantageous.
• the lack of feedback from a manipulator that does not respond, or at least not clearly respond, to the forces applied to the command input makes it difficult to operate because, for example, the operator can not detect whether he has sufficient first force due to movement of the manipulator the first direction has already exercised or not.
• movements of the manipulator are therefore detected in place of forces exerted on the manipulator.
• this is a
• Movement of the manipulator in a first direction of movement and in a development of the second embodiment also detects a subsequent movement of the manipulator in a second direction of movement and compared with stored movements in the first direction of movement or sequences of movements in the first and second directions of movement, each having a command assigned. Does the detected motion correspond to a stored motion sequence, i. E. if the manipulator is moved by the operator in a manner associated with a particular command, that command is issued to the controller of the manipulator.
• the manipulator is preferably designed yielding, ie by the operator manually to the command input forces exerted on him to a noticeable extent movable. This can, for example, as described above, by a pure proportional position control with correspondingly low proportionality constant will be realized.
• a yielding manipulator can also be force-controlled.
• the forces can be calculated that just compensate for weight and friction forces in its current position. If these forces are applied to the force controls of the motors of the manipulator as setpoints, the manipulator can already be moved by relatively small forces from its current position.
• a manipulator compliant ie by the forces exerted on the command forces to make recognizable movable, is to detect the forces exerted on him and these with a corresponding movement in the direction of these forces and, preferably, with a to respond to the magnitude of the forces corresponding movement speed.
• the forces exerted on him for command input lead to a measurable, preferably also recognizable by the operator movement of the manipulator.
• the operator can then move the manipulator according to the stored sequence in the second direction to enter the associated with this stored sequence command.
• the movement in the first or second direction may be a movement of the manipulator in its so-called null space, ie the set of all positions or poses of the manipulator, which realize identically defined end effector positions.
• null space ie the set of all positions or poses of the manipulator, which realize identically defined end effector positions.
• a resilient manipulator can be moved by an operator into his
• Moves links i.e. be transferred to different positions in the zero space without the end effector changes its defined position in the Cartesian space.
• Such a movement which does not change the position of the end effector and thus, for example, a working point of a robot, is particularly suitable for command input.
• a six-axis industrial robot is redundant with respect to an end effector position in which the orientation of its end effector about the sixth hinge axis is not predetermined due to a symmetrical tool.
• about a rotation of its end effector about the sixth hinge axis could be selected as the first direction, so that a rotation of the end effector is detected by a certain angle as movement in the first direction and compared with stored movements, such as rotation angles, to input a command.
• a seven- or multi-axis service robot for example, a lightweight robot LBR series of the German Aerospace Center, is redundant in terms of a given position and orientation of his gripper in the Cartesian space, so here, for example, the movement of the elbow joint in various poses as Movement in the first direction can be detected and compared with stored movements to enter a command.
• a stored force, movement or sequence comprises the size of the forces or movements, ie their amount and / or direction, their time course, in particular their temporal change and / or the time interval between the forces or movements.
• a stored movement may include the speed, ie, the change in position of the manipulator over time, the acceleration, ie, the change in the speed of the manipulator over time and / or a higher derivative with time.
• Switched input mode in which further forces or movements are interpreted exclusively as a command input.
• end-effector i. E.
• high speeds or accelerations can be switched back into a normal mode, in which the end effector of the manipulator can be manually brought to nominal positions.
• the first and second direction of force or movement need not necessarily be different from each other. For example, by turning the end effector 90 ° in one direction, followed by a brief pause and then rotating the end effector one more time 90 ° in the same direction of rotation, also enter a command.
• the stored forces, movements or sequences assigned to the commands are selected so that they are used in the normal operation of the motor
• Manipulator for example, in the direct programming of a robot by manually moving its end-effector generally not occur. This can be done, for example, by repeated application of a force or movements of the manipulator in the same or in opposite directions.
• the force or movement directions can be specified in an inertial or manipulator-fixed coordinate system.
• a force that is exerted in a spatial direction on an end effector of a manipulator, or a movement of the end effector by the operator in this spatial direction can always be detected as force or movement in the first direction, regardless of the respective position of the manipulator and the location of its end effector.
• a force or movement direction can also be defined relative to the manipulator, so that, for example, pulling on the end effector in the direction of its axis of rotation, independently of the position of the manipulator, i. e. regardless of the orientation of the axis of rotation of the end effector in space is always detected as a force or movement in the first direction.
• the predetermined force or movement directions correspond to possibilities of movement of the manipulator in its joints.
• the first and / or second direction by a movement of the manipulator correspond to possibilities of movement of the manipulator in its joints.
• a first direction may also be a circular path with a predetermined orientation in space and / or a given radius. If the operator moves a limb of a robot on such a circular path by a certain arc length, for example ⁇ or 2 ⁇ , this can be assigned to a command, for example the selection of a control mode.
• sequences of forces or movements in a first and a second direction By storing and comparing sequences of forces or movements in a first and a second direction, advantageously, a larger command dictionary can be mapped and, in particular, sequences can be assigned instructions which are not or rarely occur during normal operation of the manipulator. Such sequences may be assigned commands in addition to or instead of forces or movements in a first direction in order to (in particular in
• the present invention is not limited to sequences of two successive forces exerted on the manipulator or movements performed thereon.
• correspondingly more complex sequences can be stored, so that three or more forces must be exerted one after the other in a predetermined direction on the manipulator or three successive movements must be carried out with it in order to input a command from such a command encyclopedia.
• a control handle is provided in a preferred embodiment of the present invention, with the forces can be exerted on the manipulator or with which the manipulator are moved and having an input device for inputting a signal to switch between a normal mode and a command input mode.
• a guide handle is fixedly or detachably connected to the manipulator, for example welded, screwed or plugged into its end effector.
• each on the manipulator applied force or any movements performed with the manipulator as part of a sequence that is used to enter a command.
• forces acting on the manipulator or movements performed therewith are not considered to be used for command input. This makes it possible to detect the force acting on the manipulator forces or movements performed with the manipulator only during the command input mode, which prevents unintentionally by a force or during normal mode in which, for example, a robot is manually guided to a desired position Motion sequence is entered a command.
• the forces exerted on the manipulator or movements performed therewith can also be continuously detected, such that a sequence which is executed, for example, during a direct programming by the operator and which corresponds to a stored sequence, independently of the operation of an input device or is recognized as a command input sequence, and the associated command is output to the controller of the manipulator.
• the security of the command input may be further increased by a two-step method according to a preferred embodiment of the present invention.
• it is provided to give the operator feedback about the force applied by a force exerted by him or an induced by him movement of the manipulator command to which the operator with a confirming input, such as pressing an input device, an acoustic response or a further command input must respond by means of the method according to the invention. Only if the command has been acknowledged by the operator will be assigned to the stored force, movement or sequence Command issued to the controller of the manipulator.
• the feedback can be done, for example, visually, for example by a display, acoustically, for example by outputting a speech sequence, and / or haptically, for example by vibrating the manipulator. This will make the danger more accidental
• Such feedback is also useful, in particular, to enter more complex commands stepwise and successively.
• the position of the robot in which it is to execute this command is to be stored for a specific command of a robot, such as "touch up.”
• the command may first be executed by a force, movement or Subsequently, the manipulator is moved by the operator to the position provided for executing this command and stored, wherein the command input and / or the reaching of the stored position by inputting a signal by the operator, such as pressing or releasing a switch entered
• a feedback such as a visual display or audible message can be issued.
• the forces exerted by an operator for command input or executed movements generally do not match exactly with stored sequences, in particular with respect to their sizes, time courses or time intervals.
• the stored forces, movements or sequences therefore predetermined
• a force is exerted by the operator on the manipulator or carried out with the manipulator, a movement whose direction, size, temporal Course or distance to a previously applied force or executed movement is different from the direction, size, the time course or the time interval of a stored force, movement or sequence, but this difference is within a predetermined maximum range, the results Comparison of the detected and stored force or movement a match.
• the stored sequences are simple in simple primitives, for example, force or movement up / down, left / right, front / rear or the like, split, so that a force or movement, which is directed substantially forward, the Primitive "front” is assigned. Due to the succession of such primitives, for example, "top” -> "right", then more complex commands or a corresponding command grammar can be reliably entered.
• Pattern recognition method can be used, for example, neural network based learning method, fuzzy method or other known in particular from image processing pattern recognition method.
• Fig. 1 shows a four-axis manipulator with a
• Command input device when inputting a command
• FIG. 2 is a flowchart of a method according to an embodiment of the present invention.
• a four-axis robot 1 is shown schematically, the hull 1.1 can rotate about the y-axis of a robot-fixed coordinate system.
• An upper arm 1.2 connected to the fuselage rotates with respect to this axis about an axis parallel to an x-axis of the robot-fixed coordinate system.
• a forearm 1.3 and an end effector 1.4 are attached to this parallel axes relative to the upper arm 1.2 rotatably mounted on this or the forearm.
• a guide handle 2 is infected.
• the fuselage 1.1 is arranged a controller of the manipulator in which a command input device according to an embodiment of the present invention is implemented.
• the robot 1 is compliant, i. it can be moved manually by an operator.
• force-controlled motors (not shown) torques exerted on the axes, which compensate for the weight forces of the end effector 1.4 and the upper and lower arm 1.2, 1.3 in their respective position. Therefore, if the operator exerts a force in the y-direction on the guide handle 2, he can simply move the end effector 1.4 in that direction. If he lets go of the guide handle, the robot 1 remains in the new position.
• the command "touch up” is to be input into a controller (not shown) of the robot 1.
• the operator by means of the guide handle 2, the end effector 1.4 moves in the manner indicated by dashed lines in Fig. 1, first rapidly upward, i. in the y-direction of the robot-fixed coordinate system, and then forward, i. in the z-direction of the robot-fixed coordinate system.
• This movement is detected by resolvers in the four movement axes of the robot (not shown).
• resolvers in the four movement axes of the robot usually does not occur, this movement sequence "top"->"front” the command "touch up” assigned.
• a first movement ⁇ y in a first movement direction y and, immediately thereafter, in a step a2) a second movement ⁇ z in a second movement direction z are detected (FIG. 2).
• This sequence of movements is compared in a step b2) with the stored movement sequences. Since it coincides with the stored sequence of movements associated with the "touch up" command (step b2): “Y”), in step d) the detected command is output acoustically via voice output, if the detected motion sequences do not match any stored sequence of movements (Step b2): “N"), the apparatus returns to Step a1).
• step e In order to confirm the acoustically issued command, the operator presses an input device on the guide handle 2 in the form of a button (not shown) in a step e). Only after this confirmation of the command Bi (step e): "Y”) is this output in a step c2) to the controller, which incorporates it into the sequence program created by the direct programming.
• the end effector 1.4 by means of the guide handle 2, the end effector 1.4 in the manner indicated by dashed lines in Fig. 1 manner first upwards and then successively forward, left, behind and to the right to enter this sequence of movements. Since such a trajectory of the end effector 1.4 can also be provided for a machining process, the operator actuates the input device on the guide handle 2 by pressing the button (not shown) at the beginning of the above-described sequence of movements, ie before he moves the end effector 1.4 upwards and holds during the above sequence of movements. As a result, the command input device recognizes that the sequence of movements executed during operation of the button is for command input.
• This command is the command input device to the controller of the robot 1, which incorporates this command in the program created by direct programming sequence of the robot.
• the force regulators of the robot 1 are rigid, so that the operator can not move the end effector 1.4 manually or not recognizably.
• the four movement axes of the robot 1 are position-controlled by PID controllers with high gains.
• force sensors (not shown) of the force-controlled motors in the four axes of motion register a corresponding force acting on the end effector 1.4. From this, using a mathematical replacement model after elimination of the weight forces of the robot that of the

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Manipulator (AREA)
• Numerical Control (AREA)
• Control Of Position Or Direction (AREA)

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• 2009
  • 2009-11-03 WO PCT/EP2009/007873 patent/WO2010069429A1/fr active Application Filing
  • 2009-11-03 AT AT09749012T patent/ATE508401T1/de active
  • 2009-11-03 WO PCT/EP2009/007874 patent/WO2010069430A1/fr active Application Filing
  • 2009-11-03 CN CN200980149171.8A patent/CN102239454B/zh active Active
  • 2009-11-03 US US13/140,708 patent/US9063539B2/en active Active
  • 2009-11-03 CN CN200980143891.3A patent/CN102203685B/zh not_active Expired - Fee Related
  • 2009-11-03 EP EP09749012A patent/EP2212753B1/fr active Active
  • 2009-11-03 DE DE502009000624T patent/DE502009000624D1/de active Active
  • 2009-11-03 KR KR1020117009485A patent/KR101660064B1/ko active IP Right Grant
  • 2009-11-03 EP EP09748047A patent/EP2359205A1/fr not_active Withdrawn
  • 2009-11-03 US US13/140,123 patent/US8774969B2/en not_active Expired - Fee Related

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