EP2747956A1 - Control method for a robot - Google Patents
Control method for a robotInfo
- Publication number
- EP2747956A1 EP2747956A1 EP12750532.9A EP12750532A EP2747956A1 EP 2747956 A1 EP2747956 A1 EP 2747956A1 EP 12750532 A EP12750532 A EP 12750532A EP 2747956 A1 EP2747956 A1 EP 2747956A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- mxl
- myl
- fxl
- fyl
- 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
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
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- 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
- G05B2219/39176—Compensation deflection arm
-
- 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
- G05B2219/39194—Compensation gravity
Definitions
- the invention relates to a control method for a robot, in particular for a painting robot or a handling robot in a paint shop.
- EP 2 146 825 A1 discloses such a control method for a robot which, during the movement control, takes into account path correction values for the robot, so that the robot path traveled by the robot coincides as exactly as possible with a predetermined robot path.
- the path correction values take into account elasticity, friction or inertia of the robot in accordance with a dynamic robot model. In this case, it is assumed that rigid robot axes, so that the deviations between the actual robot path and the predetermined robot path resulting only from mechanical compliances in the individual joints between the adjacent robot axes.
- This known control method for a robot thus takes no account of the mechanical loads which occur within the individual robot axes, for example within a robot arm between two adjacent joints.
- this known control method only takes into account those torques that are aligned parallel to the pivot plane of the respective joint, ie torques that are aligned parallel to the pivot axis of the respective joint.
- torques occur transversely to the direction of movement, which under certain circumstances can lead to mechanical overloading and have hitherto not been taken into account by the known control methods.
- DE 199 14 245 AI, DE 10 2007 024 143 AI, DE 697 14 017 T2 and EP 0 262 600 AI robot controllers are also known. In these robot controls, however, at most the mechanical load is taken into account, which acts in the respective pivoting plane of the individual robot axes.
- the invention is therefore based on the object of specifying a correspondingly improved control method.
- the invention is based on the technical knowledge that in the operation of a multi-axis robot not only the mechanical load in the respective pivoting plane is to be considered, but also the mechanical load which occurs transversely to the respective pivoting plane.
- a transversely oriented to the pivot plane mechanical stress includes in particular a tilting moment, which is aligned at right angles to the pivot axis of the respective joint and thus parallel to the pivot plane.
- this term also includes forces that are aligned at right angles to the pivot axis.
- the invention therefore comprises the general technical teaching of pre-calculating the mechanical load which occurs when passing through the imminent robot path during the operation of a robot. It should be noted that this mechanical load is calculated in advance, ie the mechanical load is not measured or modeled for the current state of motion, but due to the given Ro- boterbahn and the known mechanical properties (eg geometry, mass distribution, etc.) of the robot for the upcoming section of the robot path precalculated, so that countermeasures can be initiated if the pre-calculated mechanical load is too high.
- the invention provides that the control of the drive motors of the individual robot axes is adjusted as a function of the predicted mechanical load, so that a mechanical overload is avoided.
- One way of adjusting the control of the drive motors of the robot axes to avoid mechanical overloading is that the movement of the robot is slowed down or slowed down to avoid the otherwise occurring mechanical overload.
- the predicted mechanical load is preferably compared with at least one limit value in order to detect an imminent mechanical overload, in which case the countermeasures mentioned above by way of example may then be initiated.
- certain forces and / or torques acting within the robot axes or in a joint are selected.
- those within the individual robot axes or in a joint occur.
- certain robot axes may be selected for monitoring.
- certain mechanical loads can be selected for monitoring within the selected robot axes or in a joint, such as torques or forces transverse to the direction of movement.
- the individual robot axes are each pivotable relative to each other within a certain pivot plane, wherein the mechanical stress within the individual robot axes is calculated transversely to the respective pivot plane, which is not known from the prior art.
- a tilting moment is calculated, which acts within the respective robot axis and is oriented at right angles to the pivot axis of the respective robot axis.
- the drive motors of the individual robot axes are preferably controlled by position controllers which receive desired values from a central robot controller, wherein the sequence of the predetermined desired values defines the desired robot path.
- This presetting of the desired values by the central robot controller is preferably carried out clocked with a specific interpolator cycle.
- the invention now preferably provides that the precalculation of the mechanical load and the possibly necessary initiation of countermeasures also take place clocked in the interpolator cycle.
- the mechanical load can be calculated in a multi-dimensional way, whereby both torque and forces can be calculated within the framework of the prediction of the mechanical load.
- an almost arbitrary coordinate system can be defined, whose origin of coordinates is arranged within one of the robot axes or in a joint and is fixed relative to the robot axis, so that the coordinate system moves with the robot axis.
- the predicted in the context of the invention mechanical load is then related to this virtual coordinate system.
- certain forces and / or torques that arise in the coordinate system during the movement of the robot can be selected, wherein the mechanical load is represented by the selected forces and / or torques.
- the invention is not limited to the aforementioned control method according to the invention, but also includes a robot controller which is programmed to execute the control method according to the invention.
- the invention also encompasses a robot system with at least one multi-axis robot (for example, handling robot, painting robot) and such a robot controller, which carries out the control method according to the invention.
- the invention thus also encompasses protection for a complete paint shop or a paint booth in such a paint shop.
- Figure 1 is a perspective view of a painting robot, which is controlled according to the control method according to the invention and 2 shows the control method according to the invention in the form of a flow chart.
- Figure 1 shows a per se conventional painting robot 1, which can be used for example for painting automotive body components in a paint shop.
- the painting robot 1 has a robot base 2 which is rotatable about a vertical axis of rotation 3.
- the invention can be realized in a similar manner with other painting robots whose robot base is fixedly arranged or linearly movable along a travel rail.
- a distal robot arm 6 is pivotally mounted, wherein the distal robot arm is pivotable relative to the proximal robot arm 4 about a horizontal pivot axis 7.
- a multi-axis robot hand axis 8 is attached, which is known per se from the prior art and leads a likewise conventional rotary atomizer 9 highly movable.
- the painting robot 1 is driven by a robot controller 10, which is known per se from the prior art.
- the robot controller 10 carries out a novel control method according to the invention in order to operate during the operation of the paint sprayer. boters 1 to avoid a mechanical overload of the painting robot 1.
- the robot controller 10 calculates mechanical loads that occur within the robot base 2, within the robot arm 4 or within the robot arm 6 and have not been considered in the prior art. Rather, in the conventional control methods at most the mechanical loads in the joints between the adjacent robot axes were taken into account, as was assumed by rigid robot axes.
- a coordinate system 11 can be defined which lies with its origin of coordinates within the proximal robot arm 4.
- forces Fx2, Fy2, Fz2 and torques Mx2, My2, z2 can then be calculated in advance, which will occur in the coordinate system 11 during the operation of the painting robot 1.
- the drawing shows another coordinate system 12, which lies with its coordinate origin in the pivot joint between the robot base 2 and the ground.
- the coordinate system 12 also occur mechanical loads in the form of forces Fxl, Fyl, Fzl and torques Mxl, Myl, Mzl, which are also taken into account within the scope of the control method according to the invention.
- the tilting moments Mxl, Myl and the forces Fxl, Fy2 are monitored, which are aligned at right angles to the rotational axis of the rotary joint.
- first of all a coordinate system is predefined, which with its origin of coordinates inside one of the robot axes is located and is spatially fixed to the robot axis, so that moves the coordinate system with the robot axis.
- this may be the coordinate system 11 shown in FIG.
- those forces and / or moments are then determined which are to be monitored in the coordinate system.
- this may be the torque My2 and the force Fx2 in the coordinate system 11 and the torques Mxl and Myl in the coordinate system 12.
- a trajectory of the Tool Center Point is then specified as a sequence of path points, the individual path points being defined by Cartesian spatial coordinates.
- step S4 the individual position controllers of the robot axes are then actuated by the central robot controller for traversing the predetermined trajectory, which corresponds to step S4 and is known per se from the prior art.
- the forces to be monitored for example the
- Torques Mxl, Myl, My2 and the force Fx2) in order to be able to recognize imminent mechanical overload in good time.
- the precalculated forces and moments are then compared with permissible limit values.
- step S7 it is then checked whether an exceeding of the limit of the mechanical load is imminent. If this is the case, then in a step S8 countermeasures are initiated, which in this exemplary embodiment consist in that the robot movement is decelerated.
- step S9 it is then checked whether the tail is reached or whether the robot movement is stopped for other reasons. Otherwise, steps S4-S9 are repeated in a loop.
- the invention also provides protection for the subject matter and the features of the subclaims independently of the claims referred to.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011111758A DE102011111758A1 (en) | 2011-08-24 | 2011-08-24 | Control method for a robot |
PCT/EP2012/003515 WO2013026554A1 (en) | 2011-08-24 | 2012-08-17 | Control method for a robot |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2747956A1 true EP2747956A1 (en) | 2014-07-02 |
Family
ID=46724327
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12750532.9A Ceased EP2747956A1 (en) | 2011-08-24 | 2012-08-17 | Control method for a robot |
Country Status (7)
Country | Link |
---|---|
US (1) | US9937619B2 (en) |
EP (1) | EP2747956A1 (en) |
JP (1) | JP6236388B2 (en) |
CN (1) | CN103826807B (en) |
DE (1) | DE102011111758A1 (en) |
MY (1) | MY167478A (en) |
WO (1) | WO2013026554A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011116437A1 (en) | 2011-10-19 | 2013-04-25 | Dürr Systems GmbH | Operating method for a positioning system |
DE102013010290A1 (en) * | 2013-06-19 | 2014-12-24 | Kuka Laboratories Gmbh | Monitoring a kinematic redundant robot |
EP2954986B1 (en) | 2014-06-10 | 2020-05-06 | Siemens Aktiengesellschaft | Apparatus and method for managing and controlling motion of a multiple body system |
DE102014226787B3 (en) * | 2014-12-22 | 2016-03-17 | Kuka Roboter Gmbh | Safe robot with pathway progress variables |
CN105082135B (en) * | 2015-09-11 | 2016-11-30 | 东南大学 | A kind of method for control speed of robot crawl operation |
CN105215978B (en) * | 2015-10-15 | 2017-03-22 | 浙江思玛特机器人科技有限公司 | Four-axis robot |
DE102016010945B3 (en) * | 2016-09-09 | 2017-10-26 | Dürr Systems Ag | Optimization method for a coating robot and corresponding coating system |
KR20200072478A (en) * | 2017-09-08 | 2020-06-22 | 더 리전츠 오브 더 유니버시티 오브 콜로라도, 어 바디 코퍼레이트 | Compounds, compositions and methods for treatment or prevention of HER-driven drug-resistant cancer |
EP3774197B1 (en) | 2018-03-28 | 2024-01-24 | BAE SYSTEMS plc | Collaborative robot system |
DE102018112360B3 (en) | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Area-dependent collision detection for a robot manipulator |
DE102018112370B4 (en) * | 2018-05-23 | 2021-09-16 | Franka Emika Gmbh | Directional collision detection for a robot manipulator |
DE102018128175A1 (en) * | 2018-11-12 | 2020-05-14 | Technische Universität Darmstadt | Method and device for determining displacements of a tool center |
DE102020104364B3 (en) * | 2020-02-19 | 2021-05-27 | Franka Emika Gmbh | Control of a robot manipulator when it comes into contact with a person |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0262600B1 (en) * | 1986-09-29 | 1992-11-25 | Asea Ab | Method and device for optimum parameter control of controllers for rotational and/or linear movements in one or more degrees of freedom in an industrial robot |
JP3120028B2 (en) * | 1995-11-02 | 2000-12-25 | 株式会社神戸製鋼所 | Control method for machine having link mechanism |
SE505981C2 (en) * | 1996-02-14 | 1997-10-27 | Asea Brown Boveri | Procedure for controlling an industrial robot with regard to torque and load |
JPH11277468A (en) * | 1998-03-30 | 1999-10-12 | Denso Corp | Control device for robot |
JP2002059382A (en) * | 2000-08-18 | 2002-02-26 | Nachi Fujikoshi Corp | Control method for articulated robot |
JP3808321B2 (en) * | 2001-04-16 | 2006-08-09 | ファナック株式会社 | Robot controller |
US7145300B2 (en) * | 2003-05-05 | 2006-12-05 | International Rectifier Corporation | Multi-axis AC servo control system and method |
DE102007017578A1 (en) * | 2007-04-13 | 2008-10-16 | Kuka Roboter Gmbh | Robot control, industrial robots and methods for obtaining an absolutely accurate model |
DE102007024143A1 (en) | 2007-05-24 | 2008-11-27 | Dürr Systems GmbH | Motion control for elastic robot structures |
JP2009166076A (en) * | 2008-01-15 | 2009-07-30 | Kobe Steel Ltd | Welding robot |
DE102009007026A1 (en) * | 2009-02-02 | 2010-08-05 | Kuka Roboter Gmbh | Control and control method for a manipulator |
-
2011
- 2011-08-24 DE DE102011111758A patent/DE102011111758A1/en active Pending
-
2012
- 2012-08-17 US US14/238,824 patent/US9937619B2/en active Active
- 2012-08-17 MY MYPI2014700389A patent/MY167478A/en unknown
- 2012-08-17 JP JP2014526412A patent/JP6236388B2/en active Active
- 2012-08-17 EP EP12750532.9A patent/EP2747956A1/en not_active Ceased
- 2012-08-17 WO PCT/EP2012/003515 patent/WO2013026554A1/en active Application Filing
- 2012-08-17 CN CN201280046380.1A patent/CN103826807B/en active Active
Non-Patent Citations (2)
Title |
---|
None * |
See also references of WO2013026554A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP6236388B2 (en) | 2017-11-22 |
JP2014524359A (en) | 2014-09-22 |
WO2013026554A1 (en) | 2013-02-28 |
US9937619B2 (en) | 2018-04-10 |
CN103826807B (en) | 2017-05-10 |
CN103826807A (en) | 2014-05-28 |
DE102011111758A1 (en) | 2013-02-28 |
MY167478A (en) | 2018-08-29 |
US20150057798A1 (en) | 2015-02-26 |
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