Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1602—Program 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
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• • 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
  • G05B2219/40311—Real time simulation

Definitions

• the invention relates to a method for controlling a robot system and a robot system.
• the robot system comprises a robot with actuator-drivable
• Components sensors for detecting a current state of the robot, a central control unit that executes a current control program for controlling and coordinating the robot system, one or more user interfaces, wherein the
• User interfaces and the control unit for changing the current control program are set up during its execution in a modified control program, and one or more processor units that perform Services for the central control unit.
• the robot, the sensors, the central control unit, the user interfaces and the processor units communicate with each other via a possibly time-varying dynamic data network.
• the object of the invention is to provide an improved method for controlling a robot system as well as a robot system having an increased, i.
• a first aspect of the invention relates to a method for controlling a
• current robot state Z robo (t) is understood broadly in the present context, which includes mechanical, dynamic, electrical, data-related time-dependent states of the robot, etc. Furthermore, the term encompasses time-independent states of the robot, such as its mechanical
• the control unit ZSE is advantageously designed as a computer or processor, which controls and coordinates the robot system with all its components on the basis of the current control program SP (t).
• a current control program SP (t) is understood herein to mean a sequence of instructions satisfying the rules of a particular control programming language
• the control program SP (t) may comprise auxiliary control programs, so-called “apps” (application software).
• processor units PE is understood in a broad sense in this case, basically comprising all units with their own processor, ie their own data processing, which in the broadest sense provides a "service” for the robot system or for one or more of its components. These services are referred to herein as services MPS r . They depend in particular on the type of the respective processor units PE r .
• Components of the robot system exclusively process incoming data, For example, display the data or its processing results, or based on the ZSE and / or other components of the
• Robotics incoming data generate an action, a service, etc.
• processor units fall in particular output units for the output of optical, tactical and or acoustic information.
• a processor unit PE r from the control unit ZSE and / or other components of the robot system is able to process incoming data and transmit the result of the processing to the control unit ZSE and / or to the other components.
• Robot system for further processing.
• a processor unit PE r exclusively generate data itself, which are transmitted to the control unit ZSE and / or other components of the robot system.
• this category for example, all sensor systems that capture measurement data, possibly preprocessing, and transmit via their own interface to the control unit ZSE and / or other components of the robot system.
• User interfaces NS P are advantageous with a screen / display and a
• the user interfaces NS P are advantageous, for example
• Control program which is always denoted by SP (t), beginning with the time ti given by the control program SP * (t for t> ti).
• the robot, the first sensors Sf, the central control unit ZSE, the user interfaces NS P and the processor units PE r may be over one dynamic and / or time-varying data network ZW connected to each other, so that a corresponding data communication between the components of the robot system can take place.
• the individual components of the robot system communicate via electrical and / or optical data lines.
• the robot ROBO can assume robot states Z ROBO , where: Z ROBO e Z j . obo> tota i and Z j -obo, totai defines a state space that defines the set of all possible
• Specifying robot states and further wherein a state space Z is specified, which defines the set of all allowed robot states Z ROB0RERLAUBT , where: Z ROB0RERLAUBT e
• the first sensors SU can assume sensor states Z S1 , where: Z S] i e defines a state space indicating the set of all possible sensor states, and where further a state space is predetermined, which defines the set of all permitted sensor states Z S i X Allowed , where: Z S i X permits e
• control unit ZSE can assume control unit states Z Z5E , where Z ZSE e Zj, SE> toUl i and Zj, SE> tota i defines a state space indicating the set of all possible control unit states, and furthermore a state space
• Zzs E hoisted is given, which defines the set of all allowed control unit states ZzSE, allowed, where: Z ZSE ate e Zj.sE, criaubt and c: Zjs Ettotat
• the user interfaces NS P can assume user interface states Z NSIP , where Z NS , P ⁇ r defines a state space indicating the set of all possible user interface states, and further including a state space is given, the allowed user interface states
• ZN .P allows defined, whereW: Z N s, p, allows £ And Zj] S, p, allows ⁇ jVS, p, total.
• the processor units PE R can assume processor states ⁇ > , where: Z PE R e Zj> E , r , t "tai and ⁇ ⁇ > ⁇ > ⁇ defines a state space indicating the set of all possible processor states, and where Furthermore, a state space Zj> E) r) is given, which defines the permitted processor states Z PR ⁇ er , where: Z PE ⁇ er i eubt e and ⁇ Z_p E , r , totai-
• processor state is going far in the present case understood understood understood. It includes, for example, all electrical, mechanical, temperature-dependent, data-technical, operational, etc. states of the
• the services MPS r can assume service states Z MPSyr , where: Z M ps, r £ ZMPs, r, totai and defines a state space indicating the set of all possible service states, and where further a state space is specified, which defines the set of all permitted service states Z MPSyry allow , where: Z MPSyry allows e and
• service state is understood broadly, for example, including all electrical, mechanical, temperature-dependent, data-technical, operational, etc. states of a service MPS r that are technically detectable.
• the data network DN can possibly assume dynamic and / or time-variant data network states Z data , where Z data e defines a state space indicating the set of all possible data network states, and furthermore a state space is specified, which defines the set of all allowed data network states Z data aubt , where: Z data aubt e
• data network state is understood broadly in the present case, for example comprising all electrical, mechanical, temperature-dependent, data-technical, operational, etc. states of the data network DN which are technically detectable.
• the proposed method comprises the following steps: during the execution of the respective current control program SP (t) predictive checking whether a complete execution of the current control program SP (t) leads to an error state, the error state being defined such that the complete execution of the current Control program SP (t) to a
• Robot state Z robo leads, for which applies: Z robo and / or
• Controller Z ZSE leads, for which applies: Z ZSE ⁇ £ and or
• Processor state Z PE r leads, for which: Z PR r t p R>r> i he exerts a and / or
• Z MPSyr i 2iMPs, r, e r can and / or
• User interface state Z NSyP results in: Z NSyP and / or - data network state Z data (t), for which the following applies: Z data t Z ⁇ u, and if, in the checking, such an error condition is being preambled, performing one or more of the actions listed below: automatically changing the current control program SP (t) so that no error condition is determined upon renewed predictive testing, and
• the proposed method thus carries out a preliminary check for each current control program SP (t) as to whether an execution of the complete or the current control program SP (t) still to be processed leads to an error state.
• a modified current control program SP (t) does not have to be executed completely, so that this test has a predicative character. It is therefore not necessary to wait until the current control program SP (t) generates an error when it is executed, but these possible error states can be corrected with the present
• Procedure already be recognized. This ensures in particular that the robot system does not come into a safety-endangering state. This is particularly advantageous for robotic systems that include a robot that interacts with humans and / or dynamic environments.
• This predictive check is advantageously carried out parallel to the time for carrying out the current control program SP (t) and advantageously in particular for the part of the control program that has not yet been processed.
• this check is for the entire modified current one
• Control program SP (t) to be executed by the robot ROBO. This makes it possible to specify the state spaces optimized for the task or action that can be executed by a robot, and thus for a specific task or action-dependent task Definition of error states.
• control program SP (t) is introspective, i. the control program SP (t) knows its own structure and can modify it.
• the data network state Z data takes into account one or more of the following parameters: a physical availability of the components: robot ROBO, first
• the processor state Z PE, r takes into account one or more of the following parameters:
• the service state Z M ps, r takes into account one or more of the following parameters:
• the invention further relates to a computer system, with a
• Data processing device wherein the data processing device is configured such that a method described above on a
• Data processing device is executed.
• the invention further relates to a digital storage medium with electronically readable control signals, wherein the control signals so with a programmable
• Computer system can cooperate, that one described above
• the invention further relates to a computer program product with on one
• machine-readable carrier stored program code for performing a method described above, when the program code on a
• Data processing device is executed.
• the invention further relates to a computer program with program codes for
• the data processing device can be configured as any known from the prior art computer system.
• Control unit ZSE which has a current control program SP (t) for controlling the
• the robot ROBO can assume robot states Z robo , where: Zrobo £ Z-obo, totai and Z j -obo, totai defines a state space indicating the set of all possible robot states, and where furthermore a state space is defined, which defines the set of all permitted robot states Z robo r allowed, where the following applies: Z robo permits e jobo auibti and tyrobo, deafen! ⁇ Z 'yebofakü-
• the first sensors SU can assume sensor states Z S1 , where: Z S] i e defines a state space indicating the set of all possible sensor states, and where further a state space is predetermined, which defines the set of all permitted sensor states Z S i X Allowed , where: Z S i X permits e
• control unit ZSE can assume control unit states Z Z5E , where Z ZSE e Zj, SE> toUl i and Zj, SE> tota i defines a state space indicating the set of all possible control unit states, and furthermore a state space ZzsE, raised is, which defines the set of all allowed control unit states ZzSE, allowed, where: Z Z sE, he eubt eS, he hwbt and
• the user interfaces NS P can assume user interface states Z NSiP , where: Z NS , P e defines a state space indicating the set of all possible user interface states, and further including a state space is given, the allowed user interface states
• the processor units PE r 205 can process states Z r assuming that: Z PE r e Zj> E , r , t "tai and ⁇ ⁇ > ⁇ > ⁇ defines a state space indicating the set of all possible processor states, and where further a
• Z PRtrubt defines, where: Z PE , r , ⁇ ⁇ ⁇ , ⁇ , ⁇ ⁇ ⁇ * ⁇ and ZpE, r, eriatAt Zj> E>r> Ma i.
• the services can assume MPS r service states Z MPS , r , where Z M ps, r £ ZMPs, r, totai and defines a state space that defines the set of all possible Indicates service conditions, and where furthermore a state space is defined, which defines the set of all permitted service states Z MPS ⁇ er i aubt , where:
• the data network ZW can assume data network states Z data , where: Z data £ and ⁇ ⁇ define a state space indicating the set of all possible data network states, and furthermore a state space is specified, which defines the set of all allowed data network states Z data , where:
• the control unit ZSE of the proposed robot system is further configured and configured such that the following steps are carried out.
• a predictive check is made as to whether a complete execution of the current control program SP (t) results in an error condition, the error condition being defined such that execution of the current control program SP (t ) to a
• Robot state Z robo leads, for which applies: Z robo t ⁇ erkuM and / or
• Processor state Z r leads to the following: Z r t Z ⁇ Rirterhmbt and / or
• control unit initiates an execution of one or more of the following actions: automatically changing the current control program SP (t) such that no error condition is determined in a renewed predicating check, and
• Fig. 1 is a flowchart of a proposed method
• Fig. 2 is a schematic representation of a proposed robot system.
• the robot ROBO 201 can assume robot states Z robo , where: Z robo e Z j . obo> tota i and Z j . obo> , otal defines a state space that determines the set of all possible
• the first sensors 57, 202 can assume sensor states Z S i , where: Z S i e Z i, i, totai and Z U totai defines a state space that defines the set of all possible sensor states Z S i
• a state space is predetermined, which defines the set of all allowed sensor states Z S i X Allowed , where: Z S i X allows ZjSl, i, erhubtl and ⁇ ZjSl, i, total
• the control unit ZSE 203 may assume control unit states Z Z5E , where: Z Z5E ⁇ r zsE, totai and ZzsE, totai defines a state space indicating the set of all possible control unit states, and where further a state space
• the user interfaces NS P 204 may accept user interface states Z NSiP , where: Z NS , P e defines a state space indicating the set of all possible user interface states, and further wherein a state space Z j vs, P , is defined, defines the allowed user interface state Z p est ,
• Z N s, P gives £ ZyS, P, allows And Zj] S, p, allows ⁇ Zjs / s, p, total.
• the processor units PE r 205 may assume processor states Z PE , r , where: Z PE r e Zj> E , r , t "tai and Zj> E, r , t" tai defines a state space indicating the set of all possible processor states , and where furthermore a state space Zj> E) r) allowed is defined, which defines permitted processor states Z PRr r , where: Z PEtrubt e and
• Z-PE, r allows ⁇ Z > E t r, total.
• the services MPS r may assume service states Z M ps, r , where: Z M ps, r £ and a state space defines the set of all possible
• the data network ZW 206 may assume data network states Z data , where Z data e and ⁇ , ⁇ defines a state space that defines the set of all possible ones
• Specifying data network states and further wherein a state space is defined, which defines the set of all allowed data network states Z data aubt , where:
• a predictive check is made during or before execution of the respective current control program SP (t) as to whether execution of the current control program SP (t) results in an error condition, the error condition being defined such that execution of the current control program SP (t) to a
• Robot state Z robo leads, for which applies: Z robo and / or
• Control unit state Z ZSE leads, for which applies: Z ZE ⁇ £ and or
• Processor state Z r leads to the following: Z r t Z ⁇ Rirterhmbt and / or
• a following is carried out in a second step 102 of one or more of the following actions: automatic change (102a) of the current control program SP (t) such that in the case of a renewed predictive check (101) no error condition is detected, and executing the automatically changed accordingly control program
• the method is triggered by each change of the current control program SP (t).
• Fig. 2 shows a schematic representation of a proposed robot system.
• the robot system comprises the following components: a robot ROBO 201 with actuatable elements, first sensors SU 202 for acquiring a current one
• the central control unit ZSE 203 and the User interfaces NS P 204 are for
• the robot ROBO 201 can assume robot states Z robo , where: Z robo e Z j . obo> tota i and robo otai defines a state space that defines the set of all possible
• the first sensors SU 202 can assume sensor states Z S1 , where: Z sl e and Z U totai define a state space that defines the set of all possible sensor states Z S1
• control unit ZSE 203 can assume control unit states Z Z SE, where: Z Z SE C zs E , totai and Zzs E , totai defines a state space that defines the set of all possible
• the user interfaces NS P 204 may accept user interface states Z NSIP , where: Z NStP e defines a state space indicating the set of all possible user interface states, and further defining a state space Zjvs, P , Manually Defined permitting allowed user interface states Z, where: Z N s, p, admits £ And Zj] S, p, allows ⁇ S, p, total.
• the processor units PE R 205 can assume processor states ⁇ > , where: ZpE.r £ ⁇ ,, ⁇ and Zj> E) r> M ai defines a state space specifying the set of all possible processor states, and further wherein a state space Zj> E) r) allowed is given, which exercises allowed processor states Z PRtr defined, where: Z PEtr eubt e Zp E>r> deaf and
• the services MPS r may assume service states Z M ps, r , where: Z M ps, r £ and a state space defines the set of all possible
• the data network ZW 206 may assume data network states Z data , where Z data e and Z j ua otai defines a state space that defines the set of all possible
• Specifying data network states and further wherein a state space is defined, which defines the set of all allowed data network states Z data aubt , where:
• the central control unit ZSE 203 is configured in such a manner that during the execution of the respective current control program SP (t) a predicative check is carried out as to whether a complete execution of the current control program SP (t) leads to an error condition, the error condition being defined in this way is that complete execution of the current control program SP (t) to a
• Robot state Z robo leads, for which applies: Z robo t ⁇ erkuM and / or
• Control unit state Z ZSE leads, for the following applies: Z ZE ⁇ and or
• Processor state Z r leads to the following: Z r t Z ⁇ Rirterhmbt and / or

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Manipulator (AREA)
• Numerical Control (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

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• 2016
  • 2016-04-24 DE DE102016004836.0A patent/DE102016004836B3/de not_active Revoked
• 2017
  • 2017-04-21 JP JP2018555622A patent/JP2019514707A/ja active Pending
  • 2017-04-21 EP EP17721343.6A patent/EP3448633A1/de not_active Ceased
  • 2017-04-21 US US16/095,225 patent/US11396098B2/en active Active
  • 2017-04-21 KR KR1020187033971A patent/KR102150886B1/ko active Active
  • 2017-04-21 CN CN201780024624.9A patent/CN109070347A/zh active Pending
  • 2017-04-21 SG SG11201808689PA patent/SG11201808689PA/en unknown
  • 2017-04-21 WO PCT/EP2017/059558 patent/WO2017186596A1/de not_active Ceased

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