EP3449325A1 - Verfahren und vorrichtung zum festlegen eines bewegungsablaufs für einen roboter - Google Patents
Verfahren und vorrichtung zum festlegen eines bewegungsablaufs für einen roboterInfo
- Publication number
- EP3449325A1 EP3449325A1 EP17718911.5A EP17718911A EP3449325A1 EP 3449325 A1 EP3449325 A1 EP 3449325A1 EP 17718911 A EP17718911 A EP 17718911A EP 3449325 A1 EP3449325 A1 EP 3449325A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- manipulator
- respect
- axis
- coordinate system
- pattern
- 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- Withdrawn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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35478—Set flexibility of axis in working coordinates, to move real axis manually easily
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39001—Robot, manipulator control
-
- 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
- G05B2219/40387—Modify without repeating teaching operation
Definitions
- the present invention relates to a method and a device for determining a movement sequence for a robot, wherein the movement sequence is required in order to be able to carry out any desired operation in a working space assigned to the robot.
- the method according to the invention serves to program a robot system, in particular, but not exclusively, of the lightweight design.
- Such robotic systems of lightweight construction are designed so that in addition to the necessary six degrees of freedom still have one or more degrees of freedom, which allow to open the so-called null space.
- the robot system In order for the robot system to be able to carry out the desired operations during subsequent operation and to assume the appropriate poses for this purpose, the latter must be freely programmable with regard to movement sequence and force application or transmission at an end effector.
- the robot system initially represents a state-based automaton, which is freely programmable in several axes.
- a common online, ie almost performed in real time programming method for robot systems of this type is the so-called "teach-in” method, in which approached the individual bases of the desired trajectories and then the respective position of the effector over in the robot system integrated encoder is determined and stored in a control unit.
- each-in method in which the effector or the manipulator or robot arm is manually guided and moved directly by an operator, ie the manipulator is the required movement demonstrated in advance ,
- the robot arm has only such a weight and / or a corresponding sensitivity that it can still be moved by an operator, and, on the other hand, if there are no strong translating and thus self-locking gear mechanisms between the individual members of the robot arm or when using transmissions with high ratios a corresponding torque control is provided.
- a manipulator of a lightweight robot usually provides seven degrees of freedom in terms of its mobility.
- the definition of a workspace in which the robot is to perform one or more operations is limited, for example using a Cartesian space, to six dimensions, thereby providing an additional degree of freedom for the manipulator, commonly referred to as null space.
- null space an additional degree of freedom for the manipulator.
- the robot systems generally have an input device in the region of the robot arm, by means of which, for example, the gravitationally compensating mode of the robot system can be activated or deactivated.
- a disadvantage of robotic systems that are supposed to perform defined operations in a workspace is also that For each individual operation, a separate programming or independent "teach-in" procedure must be carried out, although the operations may be identical in their nature, but must be carried out at different positions within the work space. that the same operation is that two elements, such as housing parts, connected to each other, for example, to be screwed ..
- the screwing process as such would be due to identically used screws and dimensions of the threaded holes on the housing parts respectively the same, with the positions of the threaded holes
- these would therefore have to be carried out again for each individual threaded hole for the screwing operation. This requires a certain time and therefore costly programming effort.
- the invention therefore relates to a method for determining a movement sequence for a multi-axis manipulator a robot system having a plurality of different axes of rotation forming members and an end member for cooperation with an effector, wherein the effector in a working space to perform at least any operation, and wherein the end member of the manipulator for performing the at least one arbitrary operation in any Target pose is to be transferred with respect to the working space, the method being characterized by
- At least one defined impedance pattern and / or admittance pattern is defined with respect to at least one axis forming the axis of a coordinate system associated with the manipulator.
- the multi-axis manipulators of lightweight robots are generally used as rigid bodies, elastic and / or viscoelastic elements, such as e.g. as a spring-mass system, modeled and regulated.
- a spring-mass system inherits a spring stiffness and / or impedance, whereby the spring stiffness can change via control loops and thus an impedance behavior with respect to the task space can be determined.
- This spring stiffness can be targeted via a control of the individual, arranged in the joints between two axle links drive units, influence and adequately dampen, thereby defining in principle
- Yielding yield pattern In other words, the movement behavior and interaction behavior of the manipulator in its entirety can be influenced in a targeted manner.
- this possibility is now used according to the invention, in the programming of a desired movement sequence for a manipulator or in the "Teach-in" defined impedance pattern and / or admittance pattern on individual axes of one and the same coordinate system or of different coordinate systems.
- these are defined compliance patterns.
- this may be an arbitrary coordinate system comprising at least one of the axle members of the manipulator, another of the axle members of the manipulator, one or more joints between two axle members movably connected thereto, the effector attached to the end member of the manipulator is arranged, and / or the workspace in which the effector performs one or more operations is assigned directly.
- it could also be a coordinate system whose axes can be identified automatically, for example, with reference to a manifold, ie, the system for performing the method learns by machine which coordinate system could be the most appropriate.
- the arbitrary coordinate system determines the arbitrary coordinate system by the type of the effector, the pose to be taken and / or the type of operation to be performed. For example, if it is a screwing operation to be performed by the effector, a screwdriver, then the arbitrary coordinate system may be defined as a polar coordinate system in this context. It is also possible that the arbitrary coordinate system is designed to be time-variant, if, for example, the manipulator has to follow a predetermined movement for carrying out the imaginary operation, which is determined, for example, by a conveyor belt moving along the robot in the region of the working space.
- the axis (s) selected for the application of the impedance patterns and / or admittance patterns relates to a translatory alignment or to a rotational alignment.
- a targeted impedance behavior and / or admittance behavior with regard to a translatory partial or total movement of the manipulator and / or an impedance behavior and / or admittance behavior with respect to a rotary partial or total movement of the manipulator.
- a defined impedance pattern for a step, a defined impedance pattern and / or
- Admittanzmuster is set with respect to an axis in a translational alignment
- steps can then be repeated (in an even or odd number) until the desired target pose is reached.
- the respectively identical impedance patterns and / or admittance patterns already defined for the previous steps can then be used for each individual step, or the impedance patterns and / or admittance patterns between the steps can be varied.
- the method according to the invention is therefore characterized in that the programming of the desired sequence of movements can be carried out in several steps or loops by approaching the final pose in several stages.
- the number of steps can be chosen arbitrarily or results from the spatial circumstances.
- different motion sequences in different programming methods can result from manual guidance. If the space in which the manipulator moves during "teach-in" in accordance with the method according to the invention is free of obstacles, the manipulator could be guided more or less directly to the goal in just a few steps People working in a human-robot collaboration can manipulate the manipulator around these obstacles in several steps to the desired destination.
- the impedance patterns and / or admittance patterns are designed to be constant, time-variable and / or state-dependent during a step.
- a robot system having a multiple degrees of freedom manipulator may comprise a control unit and an input device for programming the robot system, wherein the control unit and the input device are configured such that at least one impedance pattern and / or during programming of the robot system Admittance pattern is applied to an axis of a coordinate system.
- the control unit and the input device are configured such that at least one impedance pattern and / or during programming of the robot system Admittance pattern is applied to an axis of a coordinate system.
- the control unit is designed so that it is the one or more coordinate systems in advance in accordance with the previous specified parameters and the type of coordinate systems then chooses what makes the most sense for the required application.
- Cartesian coordinate systems cylindrical, spherical coordinate systems or coordinate systems defined by manifolds are also conceivable.
- the operator is enabled by the robot system according to the invention or the method according to the invention, as required to apply individual joints of the robot system for programming purposes with defined impedance patterns and / or Admittanzmustern, for example.
- To attenuate defined Deflection pattern and thus selectively To selectively influence the degrees of freedom of the robot system in order to adjust the degree of freedom of movement mobility for a movement to be performed during the programming of the robot system.
- the movements can be defined taking into account the predetermined coordinate systems either with regard to the rotational and / or translational alignment, as previously mentioned.
- the invention has the advantage that, instead of always activating or deactivating the gravitation-compensated mode, a multi-stage, selectively programmable control method is proposed for the "teach-in", in which only a part of the multiple present in the robot system at any time Degrees of freedom can be changed by external forces, namely by the application of defined impedance patterns and / or admittance patterns, such as compliance patterns, which can be intentionally damped and / or blocked, as a result of which the number of available multiple degrees of freedom by an operator is increased of the robot system for a while programming the Robotic system can be reduced to performing movement, which results from the manual guiding.
- Blocking is in this context not to be understood as an absolute lock;
- a joint is subjected to an extremely hard damping, which means that such a high rigidity ultimately leads to a blockage of the joint, wherein minimal slight movements are still possible, while another joint is subjected to an extremely soft damping, which means that such low stiffness leads to a release of this joint.
- the relative mobilities made possible by the joint mechanisms should, for example, be selectively damped between individual links of a robot arm, the degree of damping being set differently and being able to differ from joint to joint. This can be done by a corresponding control of arranged in the hinge points drive mechanisms.
- a three-step method may be used in which the manipulator is first transferred to a gravitationally compensated (and / or centrifugal and / or coriolis force and / or inertia compensated) state, roughly surrounding the manipulator in the vicinity of the desired one To bring a pose. Thereafter, only the axes of rotation with respect to a coordinate system connected to the end effector are enabled to make a first correction of the end effector alignment.
- the input device may be disposed on a member of the robotic system, preferably in the region of the end effector, or it may be an external tablet, so that the operator when manually guiding the desired
- Permissibility pattern quasi in real time, one-handed activate or deactivate and thereby also distinguish between individual joints of the manipulator.
- the method according to the invention for programming facilitates the one-handed guidance of, for example, 7-axis manipulators with a zero space, as a result of which the setting times can be further reduced while reducing the set-up costs.
- Method according to the invention further characterized in that an overall impedance pattern generated after performing all the individual steps and / or Automatadmittanzmuster for the determined movement sequence with respect to the target pose is applied to at least one further target pose while maintaining a common target orientation in the context of impedance behavior and / or admittance behavior, wherein the position or translation of the further target pose relative to the position or translation of the original target pose within a common plane and / or angularly offset therefrom.
- the method according to the invention offers a novel concept for programming or defining a movement sequence for a multiaxial manipulator of a robot system, in particular the lightweight construction, which is characterized by the selection of different compliance patterns or impedance profiles for restricting the movements with respect to a workspace.
- An overall compliance behavior of the manipulator is determined in relation to the workspace to be matched to a specific task. Be there for a desired interaction
- different coordinate systems and, on the other hand, different compliance characteristics necessary can be switched back and forth in a simple manner during the "tech-in" process, in particular by direct input to the robot, between the individual impedance profiles and / or admittance profiles.
- FIG. 1 shows an exemplary representation of a multi-axis manipulator of a robot system in which possible coordinate systems for the method according to the invention are indicated schematically;
- FIG. 2 is a flow chart illustrating the essential steps of an embodiment of the method according to the invention.
- 3a is a diagram illustrating a stepwise method according to the invention in comparison with known methods.
- Fig. 3b is a diagram of the possible mutual
- FIG. 1 by way of example, a robot system with a manipulator M consisting of several axle links A is shown, which are connected to one another via joints G. At the end of the manipulator M, an effector E is provided which is to perform a specific operation in a working space R.
- the manipulator M which is to assume a pose x, can be assigned a number of coordinate systems, which are shown schematically in FIG. 1, in the present case as Cartesian coordinate systems. However, other coordinate systems are also conceivable, such as, for example, coordinate systems associated with manifolds.
- a first coordinate system C A may, for example, refer to one of the axis members A and have corresponding axes A A within this coordinate system C A , which define this coordinate system C A.
- a second coordinate system C E is directly related to the effector E and accordingly has axes A E defining this coordinate system C E.
- a third coordinate system C G may refer directly to a single joint G and is therefore defined by the axes A G.
- the fourth coordinate system C R may be a coordinate system which relates to the working space R and is defined via the corresponding axis A R.
- the manipulator M is transferred into a pose x ⁇ in several steps S ⁇ , Sj (see FIGS. 2 and 3 a) by the effector E or the end member of the manipulator M carrying it is approximated to the final pose x ⁇ , where the pose x ⁇ corresponds to the working space R itself, which corresponds to the location of an operation to be performed in it, for example
- At least one defined impedance pattern and / or admittance pattern is defined for each step S ⁇ , S j , in the present case a compliance pattern resulting from an impedance or stiffness matrix K x .
- the impedance patterns and / or admittance patterns should be designed so that they relate to at least one axis of a selected coordinate system, ie, for example, to at least one axis A A of the coordinate system C A of one or more axis members A, on at least one axis A G of the coordinate system C G of one or more joints G, on at least one axis A E of the coordinate system C E of the effector and / or on at least one axis A R of the coordinate system of one or more work spaces R.
- FIG. 2 schematically shows a flow chart of an exemplary embodiment of the method according to the invention, which can be performed manually by an operator on a robot system for its programming.
- a first step 10 the manipulator M is brought into a compensated mode.
- the drive units in the joints G corresponding counterforces and counter moments are generated to counteract the gravitational force, if necessary.
- the operator is now able to bring the robot arm or effector E approximately in the desired pose and / or to move to the desired position.
- Cartesian coordinate system is taken into account as a relevant coordinate system
- possible Cartesian task-related stiffness elements which, in the decoupled case, define the translational and rotational Cartesian stiffness, are obtained
- a compliance pattern with respect to an axis of a Cartesian coordinate system for example the axis A A of the coordinate system C A , is then set in a translatory alignment.
- the corresponding stiffness matrix then results as
- step Si could already be sufficient to reach the target pose xi (step 20 in FIG. 2). However, the step Si could also be repeated one or more times (step 30 ⁇ in FIG. 2).
- a defined coordinate A A of the coordinate system then becomes Compliance pattern set in a rotational orientation.
- the corresponding stiffness matrix thus results as
- steps 30 ⁇ , 30 ⁇ ⁇ in FIG. 2 can be repeated as often as necessary, but not always alternately (steps 30 ⁇ , 30 ⁇ ⁇ in FIG. 2), until the pose Xi has finally been reached (step 40 in FIG Fig. 2).
- the method according to the invention can be used to transfer a once determined and set pose Xi to another target pose X, which differs from the pose xi only by another position but has a common target orientation (step 50 in Fig. 2).
- the Stiffness matrix is about the selection of
- FIG. 3a illustrates in an exemplary manner the advantage of the method according to the invention in comparison to known "teach-in" methods individual steps in which the effector E of a manipulator M to take a pose at a certain target point B in a workspace R.
- the target point B at which an operation is ultimately to be performed by the effector E of the manipulator M is not known as an input parameter for the programming of the motion sequence which the manipulator M is to run through for this purpose.
- the guidance of the manipulator M is therefore subdivided into a plurality of steps S 1 to S 4, which can assume a different duration, wherein each step then has one defining a compliance pattern
- Stiffness matrix Kl is assigned to K4. In this way, the effector E can approach the position B exactly (solid line) in order to assume the pose x B necessary for the imaginary operation.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016004841.7A DE102016004841B4 (de) | 2016-04-24 | 2016-04-24 | Verfahren und Vorrichtung zum Festlegen eines Bewegungsablaufs für einen Roboter |
PCT/EP2017/059570 WO2017186601A1 (de) | 2016-04-24 | 2017-04-21 | Verfahren und vorrichtung zum festlegen eines bewegungsablaufs für einen roboter |
Publications (1)
Publication Number | Publication Date |
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EP3449325A1 true EP3449325A1 (de) | 2019-03-06 |
Family
ID=58609410
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17718911.5A Withdrawn EP3449325A1 (de) | 2016-04-24 | 2017-04-21 | Verfahren und vorrichtung zum festlegen eines bewegungsablaufs für einen roboter |
Country Status (8)
Country | Link |
---|---|
US (1) | US20190168383A1 (de) |
EP (1) | EP3449325A1 (de) |
JP (1) | JP2019514705A (de) |
KR (1) | KR20190032280A (de) |
CN (1) | CN109313436A (de) |
DE (1) | DE102016004841B4 (de) |
SG (1) | SG11201809340WA (de) |
WO (1) | WO2017186601A1 (de) |
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DE102015012962A1 (de) | 2015-10-08 | 2017-04-13 | Sami Haddadin | Robotersystem |
DE102016004788A1 (de) | 2016-04-20 | 2017-10-26 | Kastanienbaum GmbH | Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens |
DE102017010678B4 (de) * | 2017-11-17 | 2021-07-01 | Kuka Deutschland Gmbh | Verfahren und System zum Vorgeben eines Beaufschlagungsmuster-Befehls-Lexikons zur Eingabe wenigstens eines Roboterbefehls |
EP3530418A1 (de) * | 2018-02-21 | 2019-08-28 | Siemens Aktiengesellschaft | Verfahren und vorrichtung zum bestimmen eines optimierten bewegungsablaufs einer robotereinrichtung |
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DE102013218823A1 (de) * | 2013-09-19 | 2015-04-02 | Kuka Laboratories Gmbh | Verfahren zum manuell geführten Verstellen der Pose eines Manipulatorarms eines Industrieroboters und zugehöriger Industrieroboter |
DE102014216514B3 (de) * | 2014-08-20 | 2015-09-10 | Kuka Roboter Gmbh | Verfahren zum Programmieren eines Industrieroboters und zugehöriger Industrieroboter |
CN104575232A (zh) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | 一种示教机械臂 |
-
2016
- 2016-04-24 DE DE102016004841.7A patent/DE102016004841B4/de not_active Revoked
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2017
- 2017-04-21 CN CN201780038800.4A patent/CN109313436A/zh active Pending
- 2017-04-21 EP EP17718911.5A patent/EP3449325A1/de not_active Withdrawn
- 2017-04-21 JP JP2018555594A patent/JP2019514705A/ja active Pending
- 2017-04-21 SG SG11201809340WA patent/SG11201809340WA/en unknown
- 2017-04-21 WO PCT/EP2017/059570 patent/WO2017186601A1/de active Application Filing
- 2017-04-21 KR KR1020187034085A patent/KR20190032280A/ko not_active Application Discontinuation
- 2017-04-21 US US16/095,622 patent/US20190168383A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
DE102016004841A1 (de) | 2017-10-26 |
KR20190032280A (ko) | 2019-03-27 |
CN109313436A (zh) | 2019-02-05 |
JP2019514705A (ja) | 2019-06-06 |
WO2017186601A1 (de) | 2017-11-02 |
SG11201809340WA (en) | 2018-12-28 |
US20190168383A1 (en) | 2019-06-06 |
DE102016004841B4 (de) | 2018-01-04 |
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