EP3359349A1 - Robotersystem - Google Patents
RobotersystemInfo
- Publication number
- EP3359349A1 EP3359349A1 EP16791316.9A EP16791316A EP3359349A1 EP 3359349 A1 EP3359349 A1 EP 3359349A1 EP 16791316 A EP16791316 A EP 16791316A EP 3359349 A1 EP3359349 A1 EP 3359349A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot system
- input device
- feedback
- operations
- robot
- 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.)
- Pending
Links
- 239000012636 effector Substances 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000005553 drilling Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000003754 machining Methods 0.000 claims 1
- 230000007935 neutral effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
- B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- 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
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- 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
- G05B2219/36157—Pendant control box for handwheel control, mounted on controlled axis
-
- 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
- G05B2219/36162—Pendant control box
-
- 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
- G05B2219/39427—Panel on arm, hand of robot, controlled axis
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40099—Graphical user interface for robotics, visual robot user interface
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40392—Programming, visual robot programming language
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40395—Compose movement with primitive movement segments from database
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40397—Programming language for robots, universal, user oriented
Definitions
- the invention relates to a robot system with at least one robot arm, at the end of which, during the operation of the robot system, an effector may be mounted, e.g. can consist of a tool.
- Robots have now become established in many areas of industry and are e.g. used in the automotive industry for mounting, gluing, screwing, cutting, welding, painting or lifting of heavy objects.
- the robot system In order to teach a robot system the desired operations, the robot system must be programmed. This can be done with an on-line or off-line method, whereby in the off-line method the robot program is created without using the robot.
- the robot is required for programming, which is the case, for example, for direct teach-in programming.
- the individual bases of the desired trajectories are approached by directly guiding the effector by an operator and determines the respective position of the effector, such as a gripping tool, via the internal encoder and stored.
- the web program can be supplemented with additional instructions entered via an external handheld programmer.
- the previous methods of the described on-line programming are time consuming and uncomfortable for the operator.
- Fig. 1 a robot according to
- FIG. 2 shows a last robot arm member, referred to as a pilot head, of the robot arm of the robot system according to the invention, which is used in an embodiment of the robot system according to the invention;
- Fig. 3 shows a part of an input device, which in a preferred embodiment of the invention
- FIG. 1 shows a robot system according to the invention comprising a robot 1 standing on a robot foot 2 carrying a robot arm consisting of seven robot arm members 3, 4, 5, 6, 7, 8 and 9 projecting over axes of movement (joints ) are interconnected.
- the last robot arm member 9, which is also referred to hereinafter as the pilot head, is designed so that in the lower part of the pilot head (not shown in FIG. 1) effector can be attached, which can cause the interaction of the robot with the environment ,
- Effectors used in the robotic system of the present invention may e.g. Tools for
- Workpiece processing e.g. a drill, gripper systems for handling and manipulating objects, measuring equipment for carrying out test jobs or cameras, with which the robot can perform observations.
- the robot 1 is connected to a computer 10, which takes over the control of the robot 1 and is connected to a display device 11, on which a graphical user interface for programming the robot can be displayed and which, e.g. can consist of a computer screen or the screen of a laptop.
- the computer 10 is hereinafter also referred to as a control unit.
- the pilot head 9 of the robot system which is shown in Fig. 2 in a larger dimension, has a key panel 12 in the upper part, which is also shown in a larger dimension in FIG. 3.
- the key panel illustrated in FIG. 3 has four operating keys 13, 14, 15 and 16 in the form of short-stroke keys which are provided with various functions which must frequently be called up by the operator in the course of programming and / or parameterizing the robot system. such as delete, save or set, can be occupied and are marked with corresponding symbols.
- the four operating buttons 13, 14, 15 and 16 are circularly surrounding a D-pad short-stroke switch 17 which can be tilted up, down, left and right, e.g. to control a cursor or a selection in a menu displayed on the graphical user interface of the display device in the directions above, below, left and right.
- the keys of the key panel 12 attached to the robot arm and the keys 20 constitute an input device.
- D-pad short-stroke key can also be used for cursor control, e.g. four mutually isolated buttons for each of the directions above, below, left and right.
- a transparent luminous surface 18 is mounted, which is illuminated by lighting elements, e.g. one or more LEDs that can be activated by the control unit can be illuminated in one color or different colors.
- a handle 19 is still attached, with which the pilot head can be easily guided by an operator of the robot system.
- the control unit 10 which comprises hardware and software, is designed such that it can specify at least one predefined operation which can be carried out by the robot system, this operation comprising the corresponding control commands with which the axes and the drive of the robot are regulated are controlled and the (not shown in Fig. 1) sensors of the robot.
- a plurality of predefined operations and the associated commands are stored in the control unit.
- predefined operations e.g. picking up objects, depositing objects, inserting objects, screwing in objects, drilling, surface finishing, or operating buttons.
- the predefined operations are assigned in the control unit icons that on a graphical user interface.
- User interface that can be displayed on the control unit on the display device, can be displayed.
- the operator can use the buttons 13, 14, 15, 16 and 17 of the input device to select the desired operations that the robot system should perform to accomplish a given task from a menu displayed on the graphical user interface.
- the operator for example, by means of the D-pad Kurzhubtasters in the menu moves to the corresponding operation icon and then select this icon by pressing one of the four control buttons 13, 14, 15 and 16, which previously occupied with a corresponding function was confirmed.
- the key 20 may also be used to confirm an operation previously selected by the D-pad lift switch.
- the robot system according to the invention can also be designed in such a way that the control unit is designed to display a predetermined parameterization submenu stored in the graphical user interface during the parameterization of an operation for each operation the various predetermined parameterization options are shown, which can then be selected with input device on the pilot head 9 via the buttons 13, 14, 15, 16, 17 and / or 20 via a control of the graphical user interface of the parameter submenu to perform a parameterization.
- Parameters such as the coordinates of points to be approached by the effector, torques, forces, accelerations, time durations, number of repetitions or subsequent operations of an operation can be input via the input device.
- the controller stores all possible robot system operations, as well as all possible parameter submenus for these operations, which are structured such that the operator can manipulate the input device with a very limited number of input elements, e.g. Buttons, all programming of the robot system using the
- Input device can do so that the programming can be done without the aid of external input devices such as computer keyboards.
- the pilot head shown in Fig.l can even be done with only one hand, so that the second hand of the operator for others Functions, eg the operation of an EMERGENCY STOP switch is free.
- the setting of the parameters can also be done by a stored in the control unit dialog menu, the individual parameters are queried individually and one input must be made on the input device via the buttons.
- appropriate feedback can then be made to the input device confirming the operator's input (e.g., by a green light field 18) or faulty (e.g., by a red light field 18).
- the input device attached to the pilot head does not necessarily have to consist of buttons, but may be e.g. Also include a touchpad, a trackball, a joystick or similar devices.
- the input device is further adapted to provide a user of the robot system with feedback to the user when setting the sequence of operations of the robot system and / or parameterizing the predefined operations for the robot system.
- Such feedback may e.g. optically done by 18 static or varying light signals are emitted through the light field, which are triggered by the control unit.
- the feedback may be designed such that it can be detected haptically by the operator of the robot system. This can be achieved, for example, by vibrating the input device, ie the pilot head 9, happen, which is triggered by the control unit by a belonging to the pilot head drive is driven accordingly.
- the keypad can also have a plurality of luminous fields, via which the optical feedback takes place.
- the feedback signals are preferably designed so that they confirm an input of the operator positive or negative. So could e.g. in the event of a faulty input by the operator, the illuminated field 18 lights up red, while it lights up green when the input is correct.
- the feedback may also be arranged to represent a request to select a predefined operation of the robotic system from a group of predefined operations or to prompt for a parameter of an operation.
- control unit may be configured such that a certain selection of operations and / or parameters is performed by operating certain keys and / or specific key combinations on the input device.
- control unit of the robot system may be configured to display a graphical user interface on a display device on which the predefined operation can be displayed, wherein the control unit is further configured to provide feedback to the operator from the operation shown on the graphical user interface.
- the feedback can also by an acoustic
- Input device a speaker mounted, which is controlled by the control unit.
- the display device of the robot system may also consist of a 3D display device, e.g. an electronic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015012962.7A DE102015012962A1 (de) | 2015-10-08 | 2015-10-08 | Robotersystem |
PCT/EP2016/074251 WO2017060539A1 (de) | 2015-10-08 | 2016-10-10 | Robotersystem |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3359349A1 true EP3359349A1 (de) | 2018-08-15 |
Family
ID=57241046
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16791316.9A Pending EP3359349A1 (de) | 2015-10-08 | 2016-10-10 | Robotersystem |
Country Status (8)
Country | Link |
---|---|
US (1) | US10843344B2 (de) |
EP (1) | EP3359349A1 (de) |
JP (1) | JP6832350B2 (de) |
KR (2) | KR20200074144A (de) |
CN (1) | CN108290291B (de) |
DE (1) | DE102015012962A1 (de) |
SG (1) | SG11201802800UA (de) |
WO (1) | WO2017060539A1 (de) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202015009616U1 (de) | 2015-08-14 | 2018-08-30 | Franka Emika Gmbh | Robotersystem und Gehäuseteil für ein solches Robotersystem |
DE102015012962A1 (de) * | 2015-10-08 | 2017-04-13 | Sami Haddadin | Robotersystem |
DE102015012961B4 (de) * | 2015-10-08 | 2022-05-05 | Kastanienbaum GmbH | Robotersystem |
DE102016004787B4 (de) | 2016-04-20 | 2023-02-02 | Franka Emika Gmbh | Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung |
DE102016004788A1 (de) | 2016-04-20 | 2017-10-26 | Kastanienbaum GmbH | Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens |
DE102017210947B4 (de) * | 2017-06-28 | 2019-08-01 | Kuka Deutschland Gmbh | Feedback Robotermechanik |
CN111133404B (zh) * | 2017-07-31 | 2024-02-20 | Keba工业自动化有限责任公司 | 工业操作面板 |
JP6824855B2 (ja) * | 2017-09-29 | 2021-02-03 | 株式会社安川電機 | 操作ユニットおよびロボット |
DE102018200892A1 (de) * | 2018-01-19 | 2019-07-25 | Kuka Deutschland Gmbh | Delta-Roboter mit einem Eingabemittel |
DE102018109326B4 (de) * | 2018-04-19 | 2019-12-05 | Gottfried Wilhelm Leibniz Universität Hannover | Mehrgliedrige aktuierte Kinematik, vorzugsweise Roboter, besonders vorzugsweise Knickarmroboter |
DK201800225A1 (da) * | 2018-05-19 | 2019-12-16 | Life Science Robotics Aps | Robot for anvendelse ved genoptræning af ekstremiteter. |
CN111376250A (zh) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | 一种机器人控制方法、装置及系统 |
DE102019117217B3 (de) * | 2019-06-26 | 2020-08-20 | Franka Emika Gmbh | Verfahren zum Vorgeben eines Eingabewerts an einem Robotermanipulator |
CN110524545A (zh) * | 2019-09-12 | 2019-12-03 | 德屹智能科技(扬州)有限公司 | 一种可拆卸终端拖拽示教仪 |
JP7424028B2 (ja) * | 2019-12-16 | 2024-01-30 | 株式会社デンソーウェーブ | ロボット操作端末 |
CN112356029A (zh) * | 2020-10-29 | 2021-02-12 | 中国科学院软件研究所 | 一种工业机器人控制器软件的实现方法和系统 |
CN114029931B (zh) * | 2021-11-12 | 2024-01-16 | 珠海格力电器股份有限公司 | 机器人编程控制的方法、装置和机器人系统 |
DE102021131309B4 (de) * | 2021-11-29 | 2023-10-12 | Kuka Deutschland Gmbh | Roboterarm mit einem Zusatzabtriebsglied |
FR3141367A1 (fr) * | 2022-10-28 | 2024-05-03 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Dispositif de commande ergonomique |
DE102023105701A1 (de) | 2023-03-08 | 2024-03-28 | Schaeffler Technologies AG & Co. KG | Roboterarmeinrichtung sowie Roboterarm mit einer solchen Roboterarmeinrichtung |
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DE102015012962A1 (de) | 2017-04-13 |
JP6832350B2 (ja) | 2021-02-24 |
CN108290291A (zh) | 2018-07-17 |
JP2018529536A (ja) | 2018-10-11 |
KR20180063291A (ko) | 2018-06-11 |
WO2017060539A1 (de) | 2017-04-13 |
CN108290291B (zh) | 2022-04-01 |
SG11201802800UA (en) | 2018-06-28 |
KR20200074144A (ko) | 2020-06-24 |
US20180345505A1 (en) | 2018-12-06 |
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