EP3439833A1 - Verfahren zum bewegen des letzten gliedes einer kinematischen kette sowie vorrichtung und arbeitsmaschine zum durchführen des verfahrens - Google Patents
Verfahren zum bewegen des letzten gliedes einer kinematischen kette sowie vorrichtung und arbeitsmaschine zum durchführen des verfahrensInfo
- Publication number
- EP3439833A1 EP3439833A1 EP17718821.6A EP17718821A EP3439833A1 EP 3439833 A1 EP3439833 A1 EP 3439833A1 EP 17718821 A EP17718821 A EP 17718821A EP 3439833 A1 EP3439833 A1 EP 3439833A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- kinematic chain
- sensor
- inclination
- sensors
- end effector
- 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.)
- Withdrawn
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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43065—Limitation of jerk
Definitions
- WO 2014/165888 A1 discloses an electrohydraulic control circuit for actuating a hydraulically actuatable actuator, by means of which a limb of a kinematic chain of a manipulator, in particular in the form of a large manipulator for truck-mounted concrete pumps, can be adjusted in terms of its orientation.
- an electrically controlled first valve which is connected to hydraulic working lines of the actuator for its control, as well as provided in the working lines of the actuator check valves provided which are arranged on the actuator or the actuator associated with this member and unlocked for normal operation of the actuator are, wherein the unlocking of the check valves is controlled by a separate from the first valve and the check valves electronic evaluation (ECU).
- this solution refers to currently used electro-hydraulic control circuits and related control systems, such as those used to drive multi-unit large manipulators for truck-mounted concrete pumps, which generally have a central control block with individual segments or links individually can be controlled.
- the segments hydraulic actuators or actuators are assigned, which optionally electro-hydraulically by means of pilot valves or manually via Hand lever can be operated.
- the hydraulic actuators are usually designed as a hydraulic cylinder, wherein the deflection of a piston received in the cylinder correlates with the deflection of an associated segment or member of the kinematic chain.
- Each addressed movement axis is controlled regularly by a 4/3-way valve, whereby other valve designs can be used here.
- the operator of the work machine has two joysticks for controlling the entire kinematic chain available, the joysticks are occupied multiple times, and the selection of each controlled limbs or arm segments of the kinematic chain via selector switch on the control. Since not all members or arm segments of the kinematic chain can be moved at the same time, a harmonious movement of the Monariasarmes, ie the kinematic chain as a whole is not possible, and overall very experienced operators are necessary to even the simplest movements with respect to the last link To realize the chain in the form of the end effector. Based on this prior art, it is an object of the invention to implement a simplified operation for the operator to be real, so that it can move the last link of a kinematic chain respectively the end effector jerk and inhibitor-free.
- the method according to the invention serves for moving the last link of a kinematic chain or an end effector starting from a position (X, Y), the chain consisting of at least three links, which are pivotally connected to each other via linkages and which are moved via at least one actuator , wherein by means of sensors, the inclination and the rate of rotation of at least a Tei ls of the respective songs as sensor measured values are detected, and wherein a transmitter converts the sensor measured values into a sequence of movements for the respective actuator such that within the kinematic chain a steady movement from the current position (X, Y) takes place with an operator specified speed and direction.
- end effector is borrowed from robotics and, according to the Wikipedia entry, is referred to as the last element of a kinematic chain
- the last member may be an arm segment of a multi-member actuatable working arm; but it can also be considered exclusively as the free end of the latter end member in the kinematic chain.
- the free end can then directly represent the end effector;
- the last member represents the free end of a flexible dispensing tube or a dispensing opening for fluid medium, such as concrete, so far as the free end of the dispensing tube and the dispensing opening constitute the end effector described above.
- control and regulation for said end effector or the last link of the kinematic chain forming the working arm of a mobile work machine is characterized, inter alia, by assigning to each link or working arm segment a sensor which is directly or indirectly determinative is suitable for the angle that occurs when two adjacent links or arm segments move about the articulation point between them under the action of an associated actuator.
- the actuation of the actuators by means of a control or evaluation electronics takes place in such a way that setting angles result, which allow within a so-called inverse kinematics that the last link of the kinematic chain or the end effector can be moved freely in the Cartesian coordinate system.
- the control is preferably carried out such that an internal control loop is present and that the time profile of the angle enclosed by the arm segments or members is continuously differentiable.
- the angular velocity may also be continuous.
- the speed settings, X and Y direction for the end effector may preferably be via the joystick of a work machine or implement, or the constraints for position X and Y may be set via another input method, for example by manually handing the end effector or the last link spends in predeterminable positions, which can be done from the outside via control inputs to an input pendulum or the like.
- a regulation by means of PTP is therefore not necessary.
- the respective rotation rates are measured directly.
- the solution according to the invention provides that one moves from one position at a speed in one direction at an end position known per se, wherein the movement takes place as long as the operator prescribes it.
- FIG. 1 is a schematic illustration of a truck-mounted concrete pump
- Fig. 2 in an abstract representation of a kinematics with four pivotable members corresponding to the pivotable
- FIG. 1 shows a schematic representation of a concrete pump device, which is designed as a truck-mounted concrete pump, with a mobile working machine, such as a truck 10.
- the truck 10 carries a working arm 1 2, which with its individual arm segments or members 14, 16, 18, 20 forms an abstract kinematic chain.
- a continuous hose 22 is guided, which, viewed in the direction of FIG. 1, serves at its lower free end for dispensing concrete, which forms the end effector P.
- the supply of concrete for the truck 10 takes place in übl icher and therefore not described in more detail way.
- the individual members 14, 16, 18, 20 of the kinematic chain in the form of the working arm 12 are pivotally mounted along individual ner joints 24, 26, 28 and 30 end.
- a Cartesian coordinate system X, Y is in analogy to the principle len len representation of a kinematic chain of FIG. 2 is located.
- the working arm 1 2 can be pivoted out of the picture plane out of the picture plane via a mast turning device 32 (not shown) about the vertically extending vertical axis X in the direction of looking at FIG.
- an actuator 34, 36, 38 and 40 provided in the form of hydraulic power cylinder respectively hydraulic cylinder, which are not completely shown for the sake of simplicity in FIG. 1.
- Each actuator is both piston and rod side pivotally connected to the respective arm segment, wherein the piston side of the first actuator 34 is pivotally connected to the Mastwind dressed 32.
- each arm segment or member has a suitable position sensors 42, which are shown in the manner of a black box representation for the individual arm segments or members schematically.
- Each sensor 42 which could also be placed at a different location on the respective arm segment, allows for current measured value detection, the determination of the inclination and the rotation rate of each member or arm segment 14, 16, 18, 20. prove to be particularly suitable for the pertinent data acquisition so-called inclination donors, who are the
- the mentioned tilt sensors are used for precise, fast and long-term stable detection of the current inclinations or inclination angle of the addressed arm segments or links in two axes X, Y.
- the inclinometers used as sensors 42 are based on a multi-sensor system that records the measured values of six degrees of freedom. Subsequently, the acquired measured data are digitized and provided via a so-called CANopen protocol to a CAN fieldbus system highly dynamically prepared for further processing by means of evaluation electronics (not shown).
- Measurement of the respective sensor 42 takes place via an acceleration value detection in three axes with respect to the earth's gravity field, and the rotation rates or angular velocities for the individual members are detected by a so-called gyroscope in three axes.
- working arm designed as a kinematic chain with more than three arm segments or links;
- Each arm segment or limb has its own actuator in
- Each arm segment or link has its own pitch and yaw rate sensor
- Each tilt sensor outputs the absolute angle with respect to the horizon or the Y axis via CAN bus;
- Each rate of rotation sensor outputs the angular velocity via CAN bus
- a central control unit or the evaluation electronics assumes a setpoint generation via an inverse kinematics as well as the regulation or control of the individual actuators.
- the term Ii corresponds to the arm segment 14, the limb b to the segment 1 6, the limb ln-i to the arm segment 18 and the limb In with the end effector P to the last arm segment 20 according to FIG. 1.
- the hinge points 26, 28 and 30 extend, and the first member Ii is pivotally hinged at its lower end via the hinge point 24 within the Cartesian coordinate system X, Y to the mast rotator 32.
- each arm segment or member 14, 16, 18, 20 has its own controller, which sets based on the target and actual size the respectively assignable hydraulic valve for an actuator so that the target angle and the Set target angular velocity at the respective arm segment or link.
- the speed control already presented is supplemented by a position control in which a setpoint angle specification for each arm segment or limb is taken as the input variable via an inverse kinematics for a further controller shown above, taking current into account measured inclination or sensor angles (°) for each arm segment or member 14, 16, 18, 20.
- the output variables of both controllers then together form the already mentioned setpoint specification (% o).
- the respective control or regulation can also be carried out in such a way that the end effector P is controlled independently in the X and Y directions. Furthermore, the end effector P can also move from a first position to a predefinable second position on the shortest path.
- the present solution is not limited to the use of truck-mounted concrete pumps. It can also be used for multi-unit telehandler systems, as well as for handling equipment and robots, including in the field of prosthetics.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016004466.7A DE102016004466A1 (de) | 2016-04-08 | 2016-04-08 | Verfahren zum Bewegen des letzten Gliedes einer kinematischen Kette sowie Vorrichtung und Arbeitsmaschine zum Durchführen des Verfahrens |
PCT/EP2017/000398 WO2017174184A1 (de) | 2016-04-08 | 2017-03-31 | Verfahren zum bewegen des letzten gliedes einer kinematischen kette sowie vorrichtung und arbeitsmaschine zum durchführen des verfahrens |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3439833A1 true EP3439833A1 (de) | 2019-02-13 |
Family
ID=58609341
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17718821.6A Withdrawn EP3439833A1 (de) | 2016-04-08 | 2017-03-31 | Verfahren zum bewegen des letzten gliedes einer kinematischen kette sowie vorrichtung und arbeitsmaschine zum durchführen des verfahrens |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3439833A1 (de) |
DE (1) | DE102016004466A1 (de) |
WO (1) | WO2017174184A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019105814A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
EP3854943B1 (de) | 2020-01-23 | 2022-06-08 | ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH | Tiefbaugerät |
DE102020215339A1 (de) | 2020-12-04 | 2022-06-09 | Robert Bosch Gesellschaft mit beschränkter Haftung | Bedieneinheit für eine mobile Arbeitsmaschine, Verfahren zur Positionierung eines Arbeitspunktes einer mobilen Arbeitsmaschine, und mobile Arbeitsmaschine |
DE102021004639A1 (de) | 2021-09-14 | 2023-03-16 | Hydac Electronic Gmbh | Sensorvorrichtung zum Ermitteln einer Größe |
CN114509974A (zh) * | 2022-02-11 | 2022-05-17 | 北京京东乾石科技有限公司 | 机器人控制装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT514115B1 (de) | 2013-04-09 | 2015-05-15 | Ttcontrol Gmbh | Elektrohydraulischer Steuerkreis |
JP2015182143A (ja) * | 2014-03-20 | 2015-10-22 | セイコーエプソン株式会社 | ロボットおよびロボットシステム |
-
2016
- 2016-04-08 DE DE102016004466.7A patent/DE102016004466A1/de not_active Withdrawn
-
2017
- 2017-03-31 EP EP17718821.6A patent/EP3439833A1/de not_active Withdrawn
- 2017-03-31 WO PCT/EP2017/000398 patent/WO2017174184A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102016004466A1 (de) | 2017-10-12 |
WO2017174184A1 (de) | 2017-10-12 |
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