EP3304230A1 - Verfahren zum betreiben eines roboters, zugehöriger roboter mit einer vibrationsvorrichtung und roboterarbeitsplatz - Google Patents
Verfahren zum betreiben eines roboters, zugehöriger roboter mit einer vibrationsvorrichtung und roboterarbeitsplatzInfo
- Publication number
- EP3304230A1 EP3304230A1 EP16726085.0A EP16726085A EP3304230A1 EP 3304230 A1 EP3304230 A1 EP 3304230A1 EP 16726085 A EP16726085 A EP 16726085A EP 3304230 A1 EP3304230 A1 EP 3304230A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- vibration
- robot arm
- joints
- arm
- 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
-
- 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
- G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45117—Medical, radio surgery manipulator
Definitions
- the invention relates to a method for operating a robot, which has a robot arm with a plurality of links, the links connecting joints and the joints moving drives, and a trained for moving the robot arm STEU ⁇ tion device, which is set up during ei ⁇ nes manually guided moving the robot arm to adjust the joints of the robot arm by driving the drives in response to manually applied to one or more of the members forces.
- the invention also relates to a robot for carrying out the method, which in particular has a vibration device and an associated robot workstation.
- Robots in general are handling machines that are equipped for the automatic handling of objects with appropriate tools and are programmable in several axes of motion, in particular with regard to orientation, position and workflow.
- Robots usually have a robot arm with a plurality of members, and programmable logic controllers (control means), which the motion sequences of the robotic arm automatically or regulate steu ⁇ ren during a Automatikbe ⁇ drive.
- the drives are, for example, electric drives and the links are in particular rotatably mounted relative to each other bezüg ⁇ lich axes.
- the control device controls the robot arm in such a way that the tool fastened to the robot arm is automatically moved along a predetermined path.
- the robot or its control device is suitably programmed.
- the object of the present invention is to provide an improved method for programming and / or operating a robot at a robot workstation.
- the object of the invention is achieved by a method for operating a robot at a robot workstation, wherein the robot has a robot arm with a plurality of links, the links connecting joints and the drives moving joints, as well as a control device which is designed to move the robot arm , while egg ⁇ nes manually guided moving the robot arm to adjust the joints of the robot arm by driving the actuators in response to one or more of the links manually applied forces, comprising th following method steps:
- One or more types of state can be monitored according to the invention. Each individual state type may have one or more state parameters. Each state parameter may have one or more limits.
- the robot arm may, for example, a frame and a rela ⁇ tive to the frame by means of a joint rotatably mounted Ka ⁇ Russell include, on which a rocker is pivotally mounted by means of another joint.
- an arm jib can be pivotally mounted on the rocker by means of a further joint.
- the cantilever arm carries it, a robot hand, wherein the extent of the cantilever arm and / or the Ro ⁇ boterhand may have more additional joints.
- a meh ⁇ eral via joints having links connected to the robot arm may be configured as an articulated robot having a plurality of serially arranged one after the limbs and joints, in particular the robot arm may be designed as a six-axis jointed-arm robots or as a seven-Sachs articulated robot.
- robotic arms with associated robot controllers such as in particular industrial robots may also be so-called lightweight robot, which differ first from conventional industrial robots in that they a have favorable size for the human-machine collaboration and thereby a relatively high to their own weight bearing capacity aufwei ⁇ sen ,
- lightweight robot may, in particular non-positively in a simple manner and / or torque control are operated, for example, in a compliance control, instead of being operated positive onsgeregelt, which facilitates, for example, a manu ⁇ elles adjustment of the pose of the robot arm.
- ⁇ can be achieved in a reliable man-machine collaboration, as for example unintended Kollisio ⁇ NEN of the manipulator arm with o- persons either prevents the can be alleviated at least in such a way so that the Persons no harm.
- a robot arm or such a lightweight robot can have more than six degrees of freedom, in particular seven degrees of freedom, so that in this respect an over-determined system is created, whereby the same point in space in the same orientation can be achieved by several different poses of the manipulator.
- control concepts for example, an indirect force control by modeling the lightweight robot as a mechanical resistance (impedance) or a direct power regulation can be used.
- the drives of the robot can be controlled by means of impedance regulation or admittance control.
- the control device can be set up to generate the compliance or stiffness control of the robot by means of impedance regulation or adjunct regulation.
- a manually guided movement is understood in particular as a manual guiding, in which a person touches the robot arm with one or both hands and moves it manually by pulling and / or pressing on its structure, in particular by adjusting its joints.
- the robot arm comprises in particular force and / or torque sensors connected to the control device, which determine the forces or torques at the individual joints.
- the control device drives controls such that the ⁇ se drives perform, insbeson ⁇ particular by the manually guided movement guiding, resulting movements of the individual members or at least support.
- the robot is in this case preferably force and / or torque controlled.
- One Manual movement in general can be in the broadest sense, but also the movement of one or more joints of the robot arm by pressing keys and / or switches on a handheld device, whereby motion control commands via manual input to the handheld to the Steuerungsvorrich ⁇ tion transmitted and executed by them directly who ⁇ the.
- the functionalization is formality of the hand performing a key property of a Robo ⁇ tersystems.
- the user touches the robot arm di ⁇ rectly to its structure, that is, on one or more of its members or to one or more attached to him components, such as tools, and exerts a force on it.
- the robot arm typically gives way to force, ie in a force / torque-controlled mode, and moves in the desired direction. In this way, the user can intuitively transform the robotic arm into a new pose.
- Typical application finds the hand performing the so-called “teaching by Demonstration", in which the operator guides the robot hand in the desired positions, during the co ⁇ ordinates struck path points in the robot program gespei- chert be.
- the hand guiding is also relevant in so-called guided movements
- the operator typically grips close to the flange and is actively assisted in making a movement by the robot, for example by preventing the robot from crossing a virtual wall when moving, so that a tool mounted on the flange does no damage or with it he can be achieved a higher accuracy.
- An ever-present problem with a hand-guided robotic arm is its mechanical axis limits.
- Minim ⁇ least one axis ie, a joint of the robot arm appliance in ⁇ impact and can rotate no further, or that the robo may collide with itself due to its construction ⁇ terarm, that is, two members of the robot arm abut.
- a third problem is posed obstacle spaces into which the robot must not be moved to prevent Kollisi ⁇ ons for example.
- it can lead to collisions with virtual objects, such as a virtual wall, a virtual cone.
- the problem here is that it is often not possible for the user to differentiate in a manual guide when one of the solution strategies is used and / or which state has triggered this solution strategy.
- the invention is also concerned with providing the user with assistance in guiding the hand, which allows him to distinguish between the system states during the programming of his application in order to adjust his actions to it more easily.
- control device is designed and / or set up to carry out the following method steps:
- a limit value is preset as a minimum can be several, particularly different limit values are predetermined and monitored ⁇ a single or can.
- two limit values can also be formed by an upper limit value and a lower limit value of the same state parameter.
- vibrations can be binary in nature, ie only turned on and off. Alternatively, distinguishing between different system states can additionally be made possible by different playback patterns. For example, a pause shortening between a plurality of vibration sequences up to a pause reduction to zero, at which a continuous vibration then takes place, an approach of a specific member of the robot arm to an obstacle can be announced. Alternatively or additionally, the vibrations may be variable in their frequency, their amplitude and / or in the form of different playing patterns. This can be done analogously to tones, tone sequences, and / or melodies.
- a change in the vibrations can thus allow the distinction between different states or even predict the proximity to reach a certain state. For example, the closer the robot arm is manually approached to an obstacle, the higher the frequency of the vibration becomes.
- the generation of a vibration on the robot arm, controlled by the control device, during the manually guided movement when the monitored state parameter reaches the predetermined limit value can either be effected directly by a robot control device which controls the drives of the robot or by a separate override.
- Wake-up control device which is set up separately from the robot control device.
- vibration may be generated by small, alternating directional movements of at least one joint of the robotic arm.
- Vibrie ⁇ ren can be generated by appropriately driving the already vorhande ⁇ NEN drives of the joints of the robot by the control ⁇ device.
- a vibration can be generated by one or more separate vibration devices, such as electric unbalance motors, within ⁇ inside the robot arm and / or outside of the structure, ie outside on one or more of the members of the robot arm are brought and which are operable by the control device.
- an axis-specific vibration can be provided that will vibrate for example in the of condition of an approaching Ach ⁇ scorching imit, ie joint position limit only the affected Ach ⁇ se or only the drive of the affected joint or arranged on the affected joint unbalance motor.
- the user receives feedback about which axis or joint is affected.
- the axis i. that one or both or both of the articulating members of the robotic arm vibrate closest to the user's hand.
- This may typically be the axis closest to the flange of the robot arm when the user manually guides the robot arm to, for example, the flange or a tool or guide handle connected to the flange.
- the axis-specific vibration is a peculiarity that the guided tool or the guided flange depending on the pose of the robot arm may be differently affected ⁇ by the vibration.
- this impedance control can have an optional additional torque input to can be used to generate a matching sine vibration with additional torques, which can be added when driving the joint.
- the vibration is defined, for example, by a transformation in Cartesian space.
- the direction of vibration is thereby give pre ⁇ and may be in relation to any reference coordinate system, such as the TCP (tool center point) coordinate system, a tool coordinate system, a robot-base coordinate system or a global coordinate systems.
- the vibration may be carried out in relation to the guided tool or flange when the operator holds them in hand during hand-guiding.
- the drives of the joints of the robot arm or the separate unbalance motors may be controlled such that a vibration is vibrated only in the plane perpendicular to the impact direction of the tool, so that no vibration, i. no movement in the direction of impact takes place.
- the direction of vibration can be limited in relation to a predetermined tensystem frictionskoordina- to a single Cartesian direction transferringsi ⁇ c region.
- the vibration can for example be carried out in relation to the n-th axis of the robot arm, with the corresponding ⁇ A limitation in the degrees of freedom for the vibratory motion, when the operator's hand is in the immediate vicinity.
- the effect of the vibration on the guided tool or the flange can be independent of the position of the robot.
- the aim is itself violate any singularity or mechanical limit of the robot, the Vib ⁇ Center.
- this impedance control may have an optional additional force-torque input that can be used to generate a proper sine vibration with Cartesian forces and torques.
- vibration may be generated by a so-called null-space vibration.
- the vibration happens here in a null space of the robot arm.
- ⁇ playable null spaces would be a null space that holds the orientation of the tool stable, a null space that rotates the orientation of the tool about a pivot point in the manner of a ball motion, a null space, the position of the tool around a pivot point or in the medical robotics Trocar point rotates, a null space that keeps the position of the tool stable in at least one Cartesian axis, eg the Ein ⁇ leads depth holds, or a zero space that holds the position of flange or tool, for example, in a so-called elbow movement, constant.
- this type of implementation can be used if a zero space can be defined in an application that includes non-safety-critical movements.
- the tool can play examples, be a laparoscope
- the egg through the abdominal wall a patient is guided. If one uses the implementation of the pivot point, it is ensured that on the abdominal wall, which must not be moved by the vibration, ie not injured, a vibration does not move the laparoscope in the area of the abdominal wall.
- a further exemplary embodiment in medical robotics is the guiding of the hand with a medical tool, such as a laparoscopic instrument, which can be introduced into a trocar, in which gesture recognition can also occur, which causes movements along different null spaces.
- a medical tool such as a laparoscopic instrument
- gesture recognition can also occur, which causes movements along different null spaces.
- a suitable sine vibration with additional torques could be created here.
- a recognition of a gesture can be signaled by vibration.
- the vibration may modes in addition to the above-described status are also used public events to signa ⁇ taping that are not available depending on the pose of the robot terarms or its movement spaces.
- Such events can be, for example, state transitions in a robot application, signals from a sensor system, eg.
- Vibrations can generally also be used for robotic applications in which hand guidance is not active, i. where the user does not hold his hand on the robot arm, as the vibrations can also be heard.
- a vibration can be used to describe the proximity of the axis position to a singularity.
- These well-known methods can be used to calculate a "badness" of the Jacobi matrix for small Variegated ⁇ stakes per axle angle. At a certain minimum value for the thus calculated gradient can use a weak vibration that is getting stronger with increasing gradient.
- a physician places a surgical tool attached to the flange to a location to be manipulated by means of hand-guiding.
- a virtual cone of ⁇ sen peak on the manipulative stop is.
- the cone is always connected to the same ana even if the patient is moving.
- the doctor can only move within the virtu ⁇ ellen cone so that it he comes closer the anatomical site, the tool now, is getting more precisely guided to on them. Whether it has reached the virtual cone tip, the physician into ⁇ special thereby firmly that the robot now prevents any hand-guided movements closer to the anatomic site.
- a state type, state parameter or limit value to be monitored, which is specified, may be in particular:
- the state parameter can be an angular position of the respective joint of the robot arm. As limit values, a minimum angle and a maximum angle can then be specified.
- the state parameter ie in this case the instantaneous joint angle position of the considered joint of the robot arm, is monitored and continuously compared with the predetermined limit values, eg 0 degrees and 360 degrees or -180 degrees and +180 degrees as limit angle positions of the considered joint. If the monitored momentary Gelenkwin ⁇ kel ein reaches one of the predetermined limits, the control device triggers a vibration on the robot arm, preferably exactly on that joint, where the predetermined limit is reached.
- a vibration can be triggered ⁇ the, if the current joint angle position corresponds exactly to the predetermined limit, ie only then a vibration is triggered when the joint has reached its limit stop.
- a Vibration be triggered when the monitored instantaneous Ge ⁇ steering angle position is just before reaching the predetermined limit, ie the joint is just before the An ⁇ impact limit.
- an increasing vibration can be caused by the control device while the joint approaches the abutment limit.
- a decaying vibration may also be caused by the control device while the joint is moving away from its limit of impact.
- the state parameter may be a deviation of the orientations of two considered joint axes from one another and / or a distance between two considered joint axes oriented parallel to one another.
- a singularity would be achieved if both deviations, ie both additional parameters, become zero.
- the joint axes of both considered joints would be congruent or identical.
- limit values such a zero value can then be specified.
- the state parameter ie in this case the instantaneous deviation of the considered joint axes from one another, is monitored and continuously compared with the predetermined limit value of zero.
- the control device triggers a vibration on the robotic arm, preferably precisely at those joints which have caused the risk of a singularity joint position.
- a vibration can already be triggered if the monitored joints are just before reaching a singularity joint position.
- the predetermined state type is a collision position of the robot with objects external to the robot
- the state parameter can be, for example, a distance between the contour of the robot arm and the contour of the robot external object. As a limit can then be given at least Cardio ⁇ to keep minimum distance.
- the state parameter ie in this case the instantaneous distance between the contour of the robot arm and the contour of the robot-external object, is monitored and continuously compared with the predetermined limit value.
- the control device triggers a vibration on the robot arm, preferably exactly at that joint or those joints that are the robot external object closest.
- a vibration can already be triggered if the monitored instantaneous distance becomes steadily smaller.
- swelling vibration can be caused by the control device as the robot arm approaches the robot external object.
- a decaying vibration may also be caused by the control device while the robot arm moves away from the robot-external object.
- the condition parameter can be, for example, a distance between two members of the robot arm.
- a limit value can then be specified at least minimum distance to be observed.
- the state parameter ie in this case the instantaneous distance between two members of the robot arm from each other, is monitored and continuously compared with the predetermined limit value. If the monitored instantaneous distance exceeds the specified limit value of the minimum distance reached, the control device triggers a vibration on the robot arm, preferably exactly on that joint or those joints that are too close to each other. Alternatively or additionally, a vibration can already be triggered if the monitored instantaneous distance becomes steadily smaller.
- an increasing vibration caused by the control device while two members of the robot arm approach each other. It can also be caused, for example, a decaying vibration by the control ⁇ device, while two members of the robot arm again away from each other.
- a corresponding monitoring of a collision position of the robot with virtual objects or boundaries can be done in an analogous manner as in the state of a Kolli ⁇ sion position of the robot with robotic objects. More generally, the strategies described may be used to monitor the achievement or avoidance of a particular given position and / or orientation of a selected reference point.
- Such ⁇ from selected reference point for example, the origin of a TCP (tool center point) coordinate system, a tool coordinate system, a robot-base coordinate system o- be the one world coordinate system.
- the predefined state type can also be another event that occurs, for example, in the context of a user program.
- Such events may in ⁇ play as state transitions in a robot application, signals of a sensor, for example. "Force threshold exceeded”, “temperature back to normal,” signaled error situations, for example. “Tracking markers invisible”, “manual guidance currently unsafe. ", time information in time-critical tasks, for example,” 30 seconds have passed “, or a mere giving of a sign of life that the robot is active, for example,” a vibration every five seconds ".
- the generation of a vibration on the robot arm can take place by repeated reversing activation of at least one of the drives designed to adjust the joints of the robot arm.
- Each drive of each joint of the robotic arm may comprise an electric motor.
- the electric motor may include a motor controller.
- the electric motor can be controlled via its motor control or directly from the control device of the robot.
- the Vibra ⁇ tion can be produced by way of the rotor of the respective drive motor is reciprocated.
- Such a reciprocating movement can take place at a frequency of, for example, 10 to 100 hertz, in particular about 50 hertz.
- Such reciprocating can be done with a maximum tilt angle of the rotor of about 0.01 to 1.0 angle degree.
- the VIB ration can be generated by superimposing a commanded from the control device to the motor of the considered target torque joint, in particular a sinusoidal like ⁇ derholt intumescent and decongestant additional target torque.
- a commanded from the control device to the motor of the considered target torque joint, in particular a sinusoidal like ⁇ derholt intumescent and decongestant additional target torque.
- Such an additional setpoint torque superimposed on the setpoint torque may, for example, have an amplitude of approximately 1 Nm to approximately 5 Nm.
- a joint of the robot can be moved relatively quickly with a predetermined in accordance with the robot program target speed, wherein an oscillating as Inventions according reciprocating rather then corresponds to a like ⁇ derholten acceleration and deceleration, without the joint in question would actually be moved forward and back ⁇ down.
- a back and Herge ⁇ immediate smaller additional movement component of a larger always superimposed only in one direction target component of motion.
- a vibration is then particularly felt good on the hand flange of the robot arm, in particular, when such-described ⁇ nes, repeatedly reversing drive with a seven ⁇ achsroboterarm, especially at the lightweight robot of the embodiment, the motors of the third and fifth articulation is produced.
- the one joint which is the robot base and the next as the seventh hinge
- the one hinge which is the robot flange ⁇ the next is considered as the first joint.
- the generation of vibration on the robot arm can be accomplished by driving at least one vibration motor disposed within the robotic arm or externally attached to the structure of the robot arm.
- the one or more vibration motors are so rationsvorraumen of the drive motors of the joints of the robot arm separate Vib ⁇ .
- the separate vibration motors may be located immediately near the joints of the robotic arm. However, the separate vibration motors may also be remote from the joints of the robot arm, for example be arranged in a mittle ⁇ ren portion of the members of the robot arm.
- only one vibration motor can be provided on the robot arm, in particular on an end member or flange of the robot arm, but several vibration motors can also be provided on different members or joints of the robot arm, or even at least one vibration motor can be provided on each member of the robot arm.
- the vibration can be generated both in the case of using the drive motors of the robot arm as a vibration device, as well as in the case of separate vibration motors, by generating one or more vibration vibrations in close proximity to one or more of the joints of the robot arm.
- the vibration can be generated both in the case of using the drive motors of the robot arm as a vibration device, as well as in the case of separate vibration motors, such that a vibration oscillation is introduced into the robot arm, which oscillates a selected Be ⁇ yaksembls on the robot arm in one or two of the three Cartesian directions of the three-dimensional space causes.
- the vibration can, both in the case of the use of the drive motors of the robot arm as a vibration device, as well as in the case of separate vibration motors, have a vibration oscillation, which in particular with regard ⁇ frequency, amplitude, repetition rate, pause duration and / or playing pattern marks and in particular of ⁇ whose vibration vibrations differentiates.
- two or more different status types of the robot can be monitored, and each of condition can thereby its own specific vibration oscillation be supplied ⁇ arranged which vibration oscillations rates in particular by different frequencies, amplitudes, Widerholungs- differ pause durations and / or playback pattern.
- the vibration may have a vibrational vibration that varies as a function of an approaching or a distance of the monitored instantaneous state from the predefined limit value, which in particular with respect to frequency, Amplitude, repetition rate, pause duration and / or Abspielmus ⁇ ter changed.
- the object according to the invention is also achieved by a robot, in particular an industrial robot, which has a robot arm with a plurality of links, links connecting joints and drives moving the joints, and a control device designed to move the robot arm, which is set up. rend of a manually guided moving of the robot arm, the Ge ⁇ joints of the robot arm by driving the actuators in depen ⁇ dependence of one or more of the links manually set ⁇ applied forces to adjust, wherein the control device is designed and / or adapted is a method as described to perform.
- the robot may include at least one sensor configured to detect and / or monitor one or more of the following types of states, state parameters or limits of the robot:
- the robot can be a vibration device at least having in particular a vibration motor which is arranged inside the robot arm or attached externally to the structure of Robo ⁇ terarms.
- the robot can have at least one detector device which is designed and / or set up, that one
- the detector ⁇ device may accordingly have one or more touch sensors or motion sensors.
- the detector device or the at least one touch sensor may comprise a proximity sensor, such as a capacitive sensor or a thermal sensor, a distance sensor, such as an ultrasonic sensor, and / or a tactile skin.
- the detection device or the at least one touch sensor of one or more of the force / torque sensors of the joints of the robot arm can be formed, which are designed for driving the robot arm by the control apparatus. This can be the
- Control device detect all existing at the joints of the robot arm joint forces and / or joint moments and un ⁇ including the known robot model pending on the limbs of the robot arm external forces with a the Determine professional calculation methods known per se.
- a robot workstation comprising a robot according to one or more of the described embodiments, and having at least one sensor which is designed as a state type, state parameter or limit value to be monitored:
- the at least one sensor can accordingly be ⁇ arranged on the robot, and in particular sondere on the robot arm.
- at least one sensor or at least one further sensor can be arranged at a different location, ie at the robot workstation, in particular separately from the robot arm at the robot workstation.
- a room temperature at the robot workstation can be monitored by means of such a sensor.
- a Vibra ⁇ tion can then be triggered on the robot arm th of a predetermined temperature value.
- the at least one sensor whether arranged on the robot arm or arranged se ⁇ ready by the robot arm, so arranged within the robot workstation, monitor any state within the robot workstation.
- Other types of sensors may be, for example, motion sensors, temperature sensors and / or medical sensors, such as respiration sensors, pulse sensors, blood pressure sensors, and / or ECG sensors or similar sensors.
- FIG. 1 is a perspective view of a robot in the design of an industrial robot with a schematically ⁇ shown robot controller and a robot terarm,
- Fig. 2 is a perspective view of a robot of the type of a lightweight robot with a robot controller shown schematically ⁇ table and a robot terarm in a first pose,
- Fig. 3 is a perspective view of thechtbaurobo ⁇ ters of FIG. 2 in an adjusted by manually guiding the second pose
- Fig. 4 is a schematic representation of a fürsbei ⁇ game from the medical robotics.
- Fig. 1 shows a robot 1 in type of Industriero ⁇ boters la having a robot arm 2, and a control device 10.
- the robot arm 2 comprises, in the case of the embodiment ahead ⁇ several angeord ⁇ items in succession and by means of joints Jl to J6 rotatably comparable with each other Thematic link LI to L7.
- the industrial robot 1 a shown in FIG. 1 accordingly has a robot controller, ie the controller 10, which is designed to execute a robot program, and the industrial robot 1 a has the robot arm 2 with the several members L 1 -L 7, which are connected via the joints J 1. J6 are connected, which are designed for automatic adjustment against each other according to the robot program, wherein one of the several ⁇ ren members L1-L7 forms an end member (L7) of the robot arm 2, which has a robot flange 8.
- the control device 10 of the industrial robot la is formed and arranged to execute a robot program, by which the joints Jl automated to J6 of the robot arm 2 according to the robot program or automatically adjusted in a manual ⁇ driving or rotating moved Kgs ⁇ NEN.
- the control device 10 is connected to controllable electric drives M1 to M6, which are designed to adjust the joints J1 to J6 of the industrial robot 1a.
- the links LI to L7 are in the case of the present embodiment of FIG. 1 to a frame 3 and a relative to the frame 3 about a vertical axis AI rotatably mounted carousel 4.
- Other members of Robot arm 2 are a rocker 5, an arm boom 6 and ei ⁇ ne preferably multi-axis robot hand 7 with a designed as Robo ⁇ terflansch 8 fastening device for attaching, for example, a handle 11, in particular via a force / torque sensor device 12.
- the rocker 5 is on lower end, ie at the joint J2 of the rocker 5, which may also be referred to as swingarm head, pivotally mounted on the carousel 4 about a preferably horizontal axis of rotation A2.
- Rocker 5 in turn about a preferably also horizonta ⁇ le axis A3 of the arm boom 6 pivotally mounted. This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6.
- the joints Jl to J6 are drivable by in each ⁇ wells one of the electric drives Ml to M6 via the control device 10 program control.
- FIGS. 2 and 3 show one in particular as one
- Lightweight robot lb executed robot 1 which has a robot arm 2 and a control device 10.
- the robot arm 2 comprises in the case of the present gamewhosbei ⁇ plural successively arranged and rotatably interconnected by means of joints J1-J7 members L1-L8.
- the control device 10 of the lightweight robot lb is designed or implemented to execute a robot program by means of which the joints J1-J7 of the robot arm 2 can be automated according to the robot program or automatically adjusted or rotated in a hand-held operation.
- the control device 10 is connected to controllable electric drives, which are designed to adjust the joints J1-J7 of the lightweight robot lb.
- the control device 10 is designed and / or arranged to a method for operating the lightweight robot lb with incorporation of a manually operated moving the Robo ⁇ terarms 2, as hereinafter described with reference to a concrete application example of dung closer to perform.
- a doctor places a surgical tool 14 attached to the flange (limb L8) to a site to be manipulated, here a bone 15 of a patient, by means of the hand guide.
- a virtual cone 16 is stored in the control device 10, the tip 17a of which lies on the point 17 to be manipulated.
- the cone 16 can always be held in the same anatomical position 17 with the aid of a tracking system not shown in more detail, but known to the person skilled in the art, even when the patient is moving.
- the doctor can now move the tool 14 only within the virtual cone 16, so that the closer it comes to the anatomical site 17, it is guided to it more and more accurately. Whether he has reached the vir ⁇ tual conical tip 17a, the doctor in particular ⁇ special characterized by the fact that the robot arm 2 now prevents any hand ⁇ guided movements closer to the anatomical site 17 verhin ⁇ .
- vibration can help the physician in different ways to correctly recognize the situation. For example, a vibration can be triggered when an axis boundary or singularity is the cause of the robot motion restriction, or output a vibration whose frequency or amplitude changes depending on the distance to the cone tip 17a, or cause a vibration when reaching the cone tip 17a.
- the robot arm 2 can have at least one vibration device 18.
- the vibration device 18 can be formed by internal vibration motors 18 a arranged in the robot arm 2 and / or external vibration motors 18 b arranged externally on the structure of the robot arm 2.
- vibration motor 18a, 18b on the robot arm 2 in particular on an end member or flange (member L8) of the robot arm 2 may be provided, but it can also be several vibration motors 18a, 18b to different members L1-L8 or joints J1-J7 be provided of the robot arm 2, or even at each member L1-L7 of the robot arm 2 at least one vibration motor 18a, 18b to be provided.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015210218.1A DE102015210218A1 (de) | 2015-06-02 | 2015-06-02 | Verfahren zum Betreiben eines Roboters, zugehöriger Roboter mit einer Vibrationsvorrichtung und Roboterarbeitsplatz |
PCT/EP2016/062175 WO2016193217A1 (de) | 2015-06-02 | 2016-05-30 | Verfahren zum betreiben eines roboters, zugehöriger roboter mit einer vibrationsvorrichtung und roboterarbeitsplatz |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3304230A1 true EP3304230A1 (de) | 2018-04-11 |
Family
ID=56092919
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16726085.0A Ceased EP3304230A1 (de) | 2015-06-02 | 2016-05-30 | Verfahren zum betreiben eines roboters, zugehöriger roboter mit einer vibrationsvorrichtung und roboterarbeitsplatz |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3304230A1 (de) |
DE (1) | DE102015210218A1 (de) |
WO (1) | WO2016193217A1 (de) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6606145B2 (ja) * | 2017-09-25 | 2019-11-13 | ファナック株式会社 | ロボットシステム |
DE102018200864B3 (de) | 2018-01-19 | 2019-02-07 | Kuka Deutschland Gmbh | Verfahren und System zum Steuern eines Roboters |
DE102018202995A1 (de) * | 2018-02-28 | 2019-08-29 | Kuka Deutschland Gmbh | Verfahren und Vorrichtungen zum automatischen Prüfen wenigstens einer Funktion eines elektronischen Geräts |
DE102018208088A1 (de) * | 2018-05-23 | 2019-11-28 | Kuka Deutschland Gmbh | Verfahren und Steuerung zum Steuern eines Roboters |
EP3663054A1 (de) * | 2018-12-05 | 2020-06-10 | Siemens Aktiengesellschaft | Gelenkarmroboter |
DE102019202456A1 (de) * | 2019-02-22 | 2020-08-27 | Kuka Deutschland Gmbh | Verfahren und System zum Durchführen einer vorgegebenen Aufgabe durch einen Roboter |
DE102019108390B3 (de) * | 2019-04-01 | 2020-08-06 | Franka Emika Gmbh | Vorgeben von sicheren Geschwindigkeiten für einen Robotermanipulator |
JP7458818B2 (ja) * | 2020-02-21 | 2024-04-01 | キヤノン株式会社 | ロボット装置、インタフェース装置、制御装置、エンドエフェクタ、制御方法、ロボット装置を用いた物品の製造方法、プログラム及び記録媒体 |
DE102020107612B3 (de) | 2020-03-19 | 2021-09-16 | Franka Emika Gmbh | Adaptive Eingabevorrichtung |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1355765B1 (de) * | 2001-01-29 | 2008-05-07 | The Acrobot Company Limited | Roboter mit aktiven beschränkungen |
US8010180B2 (en) * | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
DE102011005917A1 (de) * | 2011-03-22 | 2012-09-27 | Kuka Laboratories Gmbh | Medizinischer Arbeitsplatz |
DE202012101121U1 (de) * | 2012-03-29 | 2013-07-16 | Kuka Systems Gmbh | Trenneinrichtung |
US10081109B2 (en) * | 2012-09-06 | 2018-09-25 | Fanuc America Corporation | Haptic teach pendant |
JP5752296B2 (ja) * | 2013-06-27 | 2015-07-22 | ファナック株式会社 | 振動モータを備えた可搬式操作盤 |
DE102014001168B4 (de) * | 2014-01-31 | 2019-03-14 | Abb Schweiz Ag | Robotersteuerung |
DE102014202145A1 (de) * | 2014-02-06 | 2015-08-06 | Kuka Roboter Gmbh | Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter |
-
2015
- 2015-06-02 DE DE102015210218.1A patent/DE102015210218A1/de active Pending
-
2016
- 2016-05-30 EP EP16726085.0A patent/EP3304230A1/de not_active Ceased
- 2016-05-30 WO PCT/EP2016/062175 patent/WO2016193217A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102015210218A1 (de) | 2016-12-08 |
WO2016193217A1 (de) | 2016-12-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016193217A1 (de) | Verfahren zum betreiben eines roboters, zugehöriger roboter mit einer vibrationsvorrichtung und roboterarbeitsplatz | |
EP2987592B1 (de) | Verfahren zum programmieren eines industrieroboters und zugehöriger industrieroboter | |
EP1950010B1 (de) | Roboter und Verfahren zum Programmieren eines Roboters | |
EP2868445B1 (de) | Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter | |
EP2851162B1 (de) | Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter | |
DE102011079117B4 (de) | Verfahren zum Programmieren eines Roboters | |
EP2323815B1 (de) | Roboter und verfahren zum steuern eines roboters | |
DE102014222809B3 (de) | Event-basierte Redundanzwinkelkonfiguartion für Gelenkarmroboter | |
DE102012110190B4 (de) | Manuell betätigte Robotersteuerung und Verfahren zum Steuern eines Robotersystems | |
DE102008062622B9 (de) | Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators | |
DE112011101930B4 (de) | Verfahren, Steuerungssystem und Bewegungvorgabemittel zum Programmieren oder Vorgeben von Bewegungen oder Abläufen eines Industrieroboters | |
DE102011110902B4 (de) | Sicherer Betrieb eines Kraft- oder ImpedanzgesteuertenRoboters im Arbeitsraum | |
DE102013004692B4 (de) | 3D-Eingabegerät mit einem zusätzlichen Drehregler | |
EP2905111A2 (de) | Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter | |
WO2010069429A1 (de) | Verfahren und vorrichtung zur befehlseingabe in eine steuerung eines manipulators | |
DE102008042612A1 (de) | Industrieroboter und Bahnplanungsverfahren zum Steuern der Bewegung eines Industrieroboters | |
DE102010039540B4 (de) | Handbediengerät zum manuellen Bewegen eines Roboterarms | |
DE102018007842B4 (de) | Steuergerät zum Überwachen der Bewegungsrichtung eines Betätigungswerkzeugs | |
EP2008778B1 (de) | Verfahren und Vorrichtung zum Programmieren eines Industrieroboters | |
EP2000872A2 (de) | Industrieroboter und Verfahren zum Programmieren eines Industrieroboters | |
EP3484672A1 (de) | Redundanzauflösung für einen redundanten manipulator | |
EP3569367A1 (de) | Rechnergestütztes ermitteln einer bewegung einer vorrichtung | |
DE102019125326B3 (de) | Prognostizierter Bremsbereich eines Robotermanipulators | |
EP1684159A2 (de) | Mobile haptische Schnittstelle | |
DE102006036490A1 (de) | Verfahren und Vorrichtung zum Steuern eines Handhabungsgeräts |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20171219 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: KUKA DEUTSCHLAND GMBH |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20200129 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R003 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED |
|
18R | Application refused |
Effective date: 20220228 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230528 |