EP3374136A1 - Verfahren und computerprogramm zur korrektur von fehlern eines manipulatorsystems - Google Patents
Verfahren und computerprogramm zur korrektur von fehlern eines manipulatorsystemsInfo
- Publication number
- EP3374136A1 EP3374136A1 EP16794938.7A EP16794938A EP3374136A1 EP 3374136 A1 EP3374136 A1 EP 3374136A1 EP 16794938 A EP16794938 A EP 16794938A EP 3374136 A1 EP3374136 A1 EP 3374136A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- manipulator
- reaction
- operations
- program
- touchdown point
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4067—Restoring data or position after power failure or other interruption
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
-
- 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
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13001—Interrupt handling
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25416—Interrupt
-
- 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
- G05B2219/39024—Calibration of manipulator
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50103—Restart, reverse, return along machined path, stop
Definitions
- the invention relates to a method and a computer program for correcting errors of a manipulator system.
- manipulator systems typically comprise at least one manipulator and are by means of a
- Controlled manipulator program If an error occurs in the manipulator system, then the manipulator system can be converted into a system state, which a
- Typical manipulator systems include at least one manipulator that is configured to physically interact with its environment.
- a manipulator may be an industrial robot having at least three movable, freely programmable axes and having an end effector, such as a gripper or a machining tool.
- Manipulator systems are used, for example, in automobile production.
- Manipulator systems are typically controlled by means of a
- Manipulator program which determines the system behavior application-specific.
- the requirement for the programming of manipulator programs has changed, for example, through the use of additional sensor technology, which enables new tasks in robotics.
- new functionalities can be programmed through the use of force and / or torque sensors, such as those used in the industrial robot LBR iiwa from KUKA AG. These include, among other things, search trips with sensors, force-controlled tool operation, MRK (human-robot cooperation) capability, sensitive gripping etc.
- Manipulators implement these functions by means of programmed operations.
- a manipulator program typically includes several operations. The sequence of several operations forms a process. During the
- Running a process may cause an error that prevents it from continuing on schedule.
- the reason for the occurrence of an error may be, for example
- CONFIRMATION COPY an unforeseen event to which the manipulator system can not respond on its own or requires an interruption of the planned process.
- manipulator program takes place. Debugging and correcting require significant time and human resources, which results in high costs. Furthermore, threatening high damage, if an unrecognized error, for example, leads to an interruption of a series production.
- manipulator programs can be programmed using a general high-level language (eg Java).
- the program code is typically compiled and executed by a programming language bytecode interpreter (Java VM).
- Java VM programming language bytecode interpreter
- the real-time capability of this kind of interpreter is limited, so the System time of the manipulator program and the manipulator system may differ. As a result, runtime errors can not be responded in real time.
- the Java VM is typically not equipped for the special requirements of manipulator programming. In particular, among other things, the execution of the manipulator program from a certain point in the expiration of
- Manipulator program program entry
- Manipulator program as well as stopping and resuming at a defined point in the flow of the manipulator program is not supported. This makes it difficult to correct errors.
- the object of the present invention is to provide a method and a computer program as well as a device which can at least partially eliminate the disadvantages described above. Detailed description of the invention
- the object of the invention is achieved by a method for correcting errors of a manipulator system according to claim 1, a computer program according to claim 14 and a device according to claim 16.
- the object is achieved by a method for correcting errors of a manipulator system, wherein the manipulator system at least one
- Manipulator and is controlled by means of at least one manipulator program, the method comprising the following steps:
- Manipulator program includes multiple operations
- Touchdown point forms the beginning and / or end of an operation structure
- Reaction structure to an operation structure, wherein the at least one
- Reaction structure Reaction operations in whose execution the manipulator program controls the manipulator system so that it into a
- Manipulator programs are used to control the manipulator system.
- a manipulator program can specify movements and working steps of a manipulator of the manipulator system.
- a manipulator it is possible for a manipulator to be moved according to a defined trajectory in order to grasp an object. Subsequently, the object can be moved according to a second defined trajectory and stored at another position.
- manipulator programs may include instructions related to mounting parts, welding, riveting, or other tasks.
- the manipulator program for this purpose has a plurality of operations, wherein a plurality of operations are sequenced to a process to control the manipulator system and, for example, to perform the above tasks. there At least two of the operations become an operational structure
- the beginning and / or the end of an operation structure can form a touchdown point. From a touchdown point, the manipulator program can be continued regardless of its execution history. The same results are always achieved.
- Reaction structure allows a clear manipulator program, which errors in programming can be reduced. Furthermore, the
- the operation structure is consistent, so that the integrity conditions of the manipulator system are met at a touchdown point and / or before and / or after executing the operation structure. This ensures that a manipulator program, regardless of its execution history of a
- a reaction structure can be carried out which brings the manipulator system into a system state corresponding to a touchdown point. Not only is the software "rewound", but the manipulator system is actually transferred to a system state that corresponds to the touchdown point.
- the reaction structure preferably comprises reaction operations which can undo individual operations if the respective operation structure describes a reversible process. If the respective operation structure describes an irreversible process, then reaction operations may be contained in the reaction structure which allow it to continue with a modified plan, i. which differ from a pure reverse execution performed operations.
- the rivet when placing a rivet by means of a manipulator, the rivet may jam in a bore. In this case correct riveting is not possible. If the manipulator system detects this error, the operation structure "riveting" can be broken off and an associated reaction structure initiated.
- a possible reaction structure in this example could include opening the riveting tool and then commanding the jammed rivet out of the hole a new rivet will be taken, and the operations structure "riveting" will be performed again.
- reaction structures are also possible. For example, depending on the number of failed attempts to execute an operation structure, a response structure may command a different approach. To stay in the previous example, after repeatedly performing the
- An operation structure and an associated reaction structure are preferably implemented in a common semantic module.
- a reaction structure can also cancel the operation structure and / or continue the operation
- the system state of the manipulator system at a touchdown point and / or before and / or after executing an operation structure is not consistent in all system parameters.
- the reaction structure must provide a corresponding reaction operation, which makes it possible to eliminate the causative error of the welding process (eg cleaning of the welding process)
- the reaction structure provides an alternative approach, after which the interrupted weld is not finished welded, but to be reworked in a manual step.
- the manipulator program can be continued elsewhere in this case.
- an operation structure of the manipulator program can be repeated immediately after the occurrence of an error or
- Manipulator program continue from another touchdown point. This allows to minimize downtime of the manipulator system and
- the productivity of the manipulator system can be increased.
- not every operation of an operation structure is assigned its own reaction operation to a corresponding reaction structure.
- not every operation structure must have its own reaction structure.
- an operation structure is assigned a reaction structure, wherein the reaction structure is preferably assigned to at least one further operation structure.
- the reaction structure is preferably assigned to at least one further operation structure.
- a reaction structure is assigned to a plurality of operation structures if the operation structures have a common touchdown point.
- the reaction structure includes at least one reaction operation whose execution leads the manipulator system to a system state corresponding to the touchdown point, which touchdown point forms the beginning of the operation structure in which the failure occurred.
- reaction structures allow the manipulator system to be "rewound.”
- the operation structure in which the error occurred can be repeated, and the return to the touchdown point does not have to correspond to a direct inversion of the operation structure, but can be performed in an alternative way For example, a movement of a manipulator are reversed and the direct return path is blocked, so the manipulator can be traced on an alternative trajectory to the starting point of the movement.
- the at least one reaction operation undoes an operation of the operation structure.
- individual operations can be reversed immediately. This is especially true for reversible processes
- a movement performed by the manipulator can be immediately reduced.
- an operation of the manipulator program is defined by at least one parameter, wherein the at least one parameter is defined by a
- a parameter may be a numerical parameter, such as a manipulator speed, or an instruction parameter representing the sequence of operations of a
- a response operation may cause the operation structure to continue with changed parameters (eg, slower manipulator speed) or repeat with changed parameters. It is also possible to achieve an alternative branching of the manipulator program.
- the reaction structure includes at least one reaction operation whose execution continues the interrupted operation structure with at least one changed parameter or executes the interrupted operation structure again.
- the reaction structure preferably includes at least one reaction operation whose execution interrupts the interrupted operation structure until operator input has taken place. This makes it possible, if the occurred error can not be corrected automatically by the manipulator system, to request the intervention of an operator. For example, the operator may be requested to check a certain system state, to remove or replace defective parts or workpieces from the manipulator system, and / or the like.
- reaction structures are performed depending on the error that has occurred.
- an operational structure is preferably assigned a plurality of reaction structures, which are executed as a function of the error that has occurred.
- the operation structure may simply be repeated if the reason for the intervention of the security device was a temporary one. On the other hand, if an error occurs that can not be remedied automatically, an operator may
- parameters can preferably be changed differently depending on the error that has occurred. For example, repeating a
- Operation structure with reduced speed of the manipulator are performed when a first error occurs or with a changed force threshold of force monitoring of the manipulator when a second error occurs.
- Other changed parameters are also conceivable.
- the at least one operation structure is linked in a touchdown point with at least one further operation and / or operation structure, wherein after reaching the touchdown point, one of the linked operations and / or operation structures is executed.
- Operation structure i.e., forward
- reaction structure i.e., backward
- Operations structures / operations are continued. This allows flexible error correction. Likewise, an operation structure may preferably be executed with changed parameters, depending on the error that has occurred.
- a parameter is a numerical parameter or a
- Numeric parameters are parameters that are expressed in numerical values and correspond to physical quantities. These are, for example, speeds of the manipulator, force thresholds, momentary thresholds, waiting times and the like. Instruction parameters influence the course of the manipulator.
- Manipulator program and specify, for example, the execution order of the operation structures or individual operations.
- the manipulator program includes real-time operations and
- Real-time reaction operations and non-real-time reaction operations are completed. By determining non real time and real time operations, a deterministic behavior of the
- Manipulator program can be achieved. Should a real-time operation or
- non-real-time operations are executed, the time of the manipulator program and the actual system time may differ.
- non-real-time operations or responses may be in the background.
- Program instructions which, when loaded on a computer and / or microcontroller, cause the computer and / or microcontroller to perform the described method.
- Such computer programs may be loaded on devices adapted to control manipulator systems.
- Reaction structure implemented in the same manipulator program part and preferably form a semantic module.
- the surgical structures or reaction structures are closely linked, so that the programming can be made clear.
- Computer program implemented as part of the manipulator program may be a stand-alone computer program.
- the object is further achieved by a device which is set up to execute the computer program.
- a device which is set up to execute the computer program.
- Such devices are for example
- FIGS. 1 to 5 shows a method for troubleshooting according to the prior art
- Fig. 2 is a schematic representation of a Semantikbausteins a
- FIG. 3 is a schematic representation of an operational structure and a reaction structure
- FIG. 4 shows a schematic representation of a model of a manipulator program
- FIG. 5 is a schematic representation of an application of the manipulator program.
- FIG. 1 shows a schematic representation of an error handling of a manipulator program 1 according to a known method.
- a process step Si, S2, S3 it is checked whether the respective process step has been carried out successfully. If this is the case, the following process step S2 can be continued. If an error occurs, the manipulator program jumps to an error handling structure Fi, F2, F3, which terminates the manipulator program. After the error has been corrected, the manipulator program must be restarted.
- This error handling is inflexible and therefore only partially suitable for manipulator systems. If complicated error cases are also to be covered with conventional methods, the complexity of the manipulator program and thus the probability of errors for possible programming errors increases.
- FIG. 2 shows a schematic representation 2 of a semantic block of a
- the semantic module 200 is divided into an operational structure 210 and a reaction structure 220. Occurs during the
- the operation structure 210 fails, the operation structure 210 is interrupted and the reaction structure 220 is continued.
- reaction structure 220 includes reaction operations 221 to 225.
- reaction operation 221 the type of failure that has occurred has been determined and a decision has been made as to which of the reaction operations 222-224 to continue.
- reaction operation 222 may include instructions that include a
- Reaction operation 223 may include, for example, instructions that at least partially undo the operations of the executed and interrupted operation structure 210.
- Reaction operation 224 may be a
- Reaction operation 225 includes an instruction that specifies the touchdown point and the subsequent operation structure with which the manipulator program should continue. Such a touchdown point, for example, at the beginning of
- Operations structure 210 may be defined so that the operation structure 210 may be executed again.
- the renewed execution of the operation structure 210 can optionally take place with a changed parameter set.
- other touchdown points can be used to continue the manipulator program.
- FIG. 3 shows a schematic representation of an operation structure 310 and a reaction structure 320.
- the operation structure 310 comprises a plurality of operations Ol to On. These operations are preferably performed sequentially, as indicated by the straight, solid arrows.
- the operation structure 310 starts at a first touchdown point APi and ends at a second touchdown point AP2.
- the manipulator system is preferably consistent.
- the operation structure can be independent of a touchdown point
- the operational structure 310 is assigned a reaction structure 320 which comprises a plurality of reaction operations Ri to Rn.
- a reaction structure 320 which comprises a plurality of reaction operations Ri to Rn.
- the relevant operation Ol to On is first undone. If this is successful, it can be decided whether the operation Ol to On, in which the error has occurred, should be executed again, or whether by means of further
- Reaction operations Ri to Rn further previous operations Ol to On should be undone.
- the invention is not limited to the embodiment shown herein. In particular, several operations can be reversed by a reaction structure, or a different way than the actual "undo" operation to a previous one
- FIG. 4 shows a schematic model 4 of a manipulator program comprising a plurality of operations ⁇ to 0'2i and a plurality of reaction operations R'i to R'30. Starting at touchdown point AP5, the operation ⁇ can be performed. The predicted program sequence is shown by dashed arrows. The
- Operations structure O'io which is assigned the touchdown point AP7.
- the operations ⁇ , ⁇ 3, ⁇ 4 and ⁇ 6 are successively executed, and an error 400 occurs in the execution of the operation ⁇ 6.
- the erroneous operation ⁇ 6 is aborted and with the
- reaction operation R'i provides two possible approaches. The first leads to reaction operation R'io the second to reaction operation R'20, which increases
- Touchdown point AP7 leads. From touchdown point AP7, operation O'io can be continued or returned via operation R'30 to workpoint AP6 associated with operation 0 * 2. Thus, different operations with different reaction operations can be reversed or, if processes are irreversible, other paths can be chosen by the manipulator program.
- a path denotes the sequence of operations and / or
- Fig. 5 shows an exemplary example of an application of the method.
- a first part 510 which has a
- Bayonet lock 511 has a second part 520 aligned.
- the second part 520 comprises a projection 521 which can engage with the bayonet lock 511.
- a manipulator first has to concentrically align the first part 510 relative to the second part 520. Once this has taken place, the first part 510 can be lowered (see illustration B), so that the projection 521 is inserted into the bayonet closure 511 of the part 510. Subsequently, the first part 510 is rotated by means of the manipulator (illustration C), so that the
- Bayonet lock 511 with the projection 521 engages. If, for example, an error occurs when lowering the first part 510, the manipulator program can be made to start again by aligning the two parts 510, 520 by means of a reaction structure. If this fails, ie the error can not be corrected automatically, an operator can be called in, for example, the first one Part 510 correctly positions to the second part 520 or removes the first part 510. Consequently, the assembly process can be continued and an error occurring can be remedied without the manipulator program having to be aborted and restarted.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015222168.7A DE102015222168B4 (de) | 2015-11-11 | 2015-11-11 | Verfahren und computerprogramm zur korrektur von fehlern eines manipulatorsystems |
PCT/EP2016/001859 WO2017080650A1 (de) | 2015-11-11 | 2016-11-09 | Verfahren und computerprogramm zur korrektur von fehlern eines manipulatorsystems |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3374136A1 true EP3374136A1 (de) | 2018-09-19 |
Family
ID=57288362
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16794938.7A Ceased EP3374136A1 (de) | 2015-11-11 | 2016-11-09 | Verfahren und computerprogramm zur korrektur von fehlern eines manipulatorsystems |
Country Status (6)
Country | Link |
---|---|
US (1) | US11065766B2 (de) |
EP (1) | EP3374136A1 (de) |
KR (1) | KR20180081775A (de) |
CN (1) | CN108349081B (de) |
DE (1) | DE102015222168B4 (de) |
WO (1) | WO2017080650A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015222164A1 (de) | 2015-11-11 | 2017-05-11 | Kuka Roboter Gmbh | Verfahren und Computerprogramm zur Erzeugung einer grafischen Benutzerschnittstelle eines Manipulatorprogramms |
JP6931585B2 (ja) * | 2017-10-02 | 2021-09-08 | 株式会社オカムラ | 作業システム、作業システムの制御方法及びプログラム |
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2015
- 2015-11-11 DE DE102015222168.7A patent/DE102015222168B4/de active Active
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2016
- 2016-11-09 CN CN201680066068.7A patent/CN108349081B/zh active Active
- 2016-11-09 EP EP16794938.7A patent/EP3374136A1/de not_active Ceased
- 2016-11-09 US US15/775,619 patent/US11065766B2/en active Active
- 2016-11-09 KR KR1020187016165A patent/KR20180081775A/ko active IP Right Grant
- 2016-11-09 WO PCT/EP2016/001859 patent/WO2017080650A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US20180345497A1 (en) | 2018-12-06 |
KR20180081775A (ko) | 2018-07-17 |
DE102015222168A1 (de) | 2017-05-11 |
WO2017080650A1 (de) | 2017-05-18 |
CN108349081B (zh) | 2021-08-03 |
US11065766B2 (en) | 2021-07-20 |
CN108349081A (zh) | 2018-07-31 |
DE102015222168B4 (de) | 2024-02-22 |
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