EP3710206A1 - Method and system for simulating a braking operation of a robot - Google Patents
Method and system for simulating a braking operation of a robotInfo
- Publication number
- EP3710206A1 EP3710206A1 EP18795447.4A EP18795447A EP3710206A1 EP 3710206 A1 EP3710206 A1 EP 3710206A1 EP 18795447 A EP18795447 A EP 18795447A EP 3710206 A1 EP3710206 A1 EP 3710206A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- range
- determined
- simulated
- states
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme 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—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
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- 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
- G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
Definitions
- the present invention relates to a method and system for simulating a braking operation of a robot and a computer program product for
- Movement range is calculated, which includes the maximum achievable by the robot positions for the trajectory.
- the object of the present invention is to improve the operation of a robot.
- Claims 9, 10 provide a system or computer program product
- the robot has a robot arm with at least three, in particular at least six, in one embodiment at least seven,
- the robot in particular electric, in one embodiment, electromotive, drives for moving these axes and / or, in particular mechanically (acting) brakes, in particular holding brakes, for braking, in particular detecting, these axes.
- the dynamic model describes poses of the robot and / or its first and / or higher time derivatives, in one embodiment it links them with, in particular, drive, brake, weight, friction and / or
- a pose of the robot may in particular comprise a position of one or more axes of the robot and / or a position and / or position of a robot-fixed reference, in particular a TCP, of the robot.
- the end state region may include, in particular, a standstill range with a plurality of possible standstill poses of the robot, wherein in one embodiment the robot does not move or stand still in one or more standstill poses. Standstill displays can be particularly relevant for the design of the robot and / or its surroundings, in particular safety devices in its surroundings.
- the final state area may also include, in particular, a range of motion poses having multiple possible motion poses of the robot, with the robot still moving or not resting in one pose in one pose.
- a braking process for a predetermined (braking) time simulated and so a range of possible states of motion, in particular
- the standstill range is predicted based on a movement pose of the robot during the simulated braking process, in which the robot is still moving, and a predetermined mapping, in particular extrapolated, the different movement poses, in particular different pairs of movement poses and speeds, each standstill zone with several levels assigns possible stalls, in particular in the form of a function, a map, predetermined deviations or the like.
- a movement pose is understood to mean in particular a pose of the robot in which it (still) moves or (still) does not stand still.
- a speed of the robot in particular of one or more of its axes and / or a robot-fixed reference, in particular of its TCP, is in the movement pose, on the basis of which the standstill range is determined
- the stall range is not determined based on a simulated stall, but instead based on a previous simulated pose of motion during the (simulated) pause.
- the simulation can be executed in one execution when a predetermined minimum speed or the predetermined range for the (simulated) Speed can be aborted, in another embodiment also continued until a simulated standstill.
- a simulation time can be shortened in one embodiment. Additionally or alternatively, in one embodiment, an informative value and / or reliability can be improved, in particular since numerical errors,
- Influences of deviating parameter values and the like, can greatly increase up to a simulated standstill.
- At least one parameter of the dynamic model specifies a variation range, in particular a tolerance range, in a development for two or more parameters of the dynamic model a variation range, in particular a tolerance range.
- a parameter may include, in particular, a friction parameter, in particular a joint of the robot, and / or a, in particular maximum, minimum or average, braking torque of a brake of the robot.
- the braking process can be simulated respectively with or for different values from the given variation range (s) and thus the final state or standstill range can be determined.
- the braking operation is simulated using interval arithmetic for the one or more parameters of the dynamic model for which a range of variation is or is specified.
- interval arithmetic such as described in RE Moore: Interval Analysis, Prentice-Hall, Englewood Cliff, NJ 1966, ISBN 0-13-476853-1, and / or in accordance with IEEE Standard 1788-2015 is understood as interval arithmetic .
- At least two of the possible end states of the determined end state region are used
- a safety device in one embodiment a safety area, a protective fence or the like, based on the determined end state area and the design size (s) determined therefor.
- a range of possible states of motion, in particular (residual) speeds, and corresponding kinetic energies of the robot at the end of this time can be determined and a protective fence, in particular its type and / or material, designed accordingly.
- Standstill range of possible standstill poses of the robot determined at the end of the braking process and a security area, in particular its size and / or shape, are designed accordingly.
- a safety device in one embodiment a safety area, a protective fence or the like, based on the determined EndClouds Symposiume and the design parameters determined for this purpose are designed. For example, for different starting points
- the present invention particularly also relates to a method or system for designing a (safety device of) an environment of the robot, in particular a safety fence and / or safety area.
- Design may, in one embodiment, include creating and / or modifying and / or reviewing the existing or designed robot or any existing or designed (safety device) environment of the robot
- Robot include, in particular his.
- an axis of the robot is (simulated) braked.
- in the (simulated) braking process in particular (already) at or in the initial state or during the entire braking process, at least one, in one embodiment, all other,
- Axis (s) of the robot still, in one embodiment (each) in a position that maximizes a kinetic (initial) energy of the robot.
- a standstill range is determined for at least one tracking path of the robot.
- a system in particular hardware and / or software, in particular programmatically, for implementing a method described herein and / or comprises: means for determining a final state area with several possible final states of the robot as a result of the simulated braking process for an initial state of the robot.
- system or its agent has:
- a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
- the CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or
- a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
- the program may be arranged to be capable of embodying the methods described herein so that the CPU may perform the steps of such methods.
- a computer program product may include, in particular, a non-volatile storage medium for storing a program or a program stored thereon, wherein execution of this program causes a system, in particular a computer, to execute a method or method described here to do one or more of his steps.
- one or more, in particular all, steps of the method are completely or partially automated, in particular by the system or its (e) means.
- a region mentioned here can be a region which is open on one side or closed on both sides, in particular a closed or unilaterally open interval, or have an upper and / or lower limit, in particular as a result.
- Fig. 1 a robot and a system for simulating a braking operation of the robot according to an embodiment of the present invention
- FIG. 1 shows a six-axis robot 1 and a system in the form of a computer 2 for simulating a braking operation of the robot according to an embodiment of the present invention, the method for simulating the braking operation illustrated in FIG. 2 according to an embodiment of the present invention performs.
- braking of an axle is considered, whose position in FIG. 1 is indicated by a corresponding axis coordinate q.
- a braking operation of the robot 1 is then simulated to a standstill using the dynamic model, using
- a required safety area is then determined in each case for the minimum overrun qi and the maximum overrun q 2 , and in step S40 a safety area of the robot 1 is designed corresponding to the larger of these safety areas.
- step S10 a map Q is given which
- Robot respectively arrest poses ranges [q (q k, q p), q 2 (q k, q p)> qq k, q p)] assigns a plurality of possible standstill poses qi (q k, q p)]: [q (q k, q p), q 2 (q k, q p)] for example in the form of predetermined deviations Q: (q k, q p) -> [qk - a ⁇ q p, q k + a * q p] with the constant a.
- step S20 of the modification a braking operation of the robot 1 is then simulated again with the aid of the dynamic model, but with singular values for the braking torque B and the friction coefficient m.
- Standstill range [q 1; q 2 ] can be predicted on the basis of the current (simulated motion pose and the given mapping Q. For example, starting from a motion pose q E , in which the velocity q E of the robot is in the above range for the first time, the standstill range [q 1 q 2] using the above picture Q to [q e - q a ⁇ e> QE + oc ⁇ q e].
- step S30 qi and the maximum stopping distance is then determined q 2 respectively, a required security area and laid out in step S40, a safety range of the robot 1 corresponding to the larger of these security areas for the minimum stopping distance.
- the invention relates generally to the aspect of prediction of the stoppage range on the basis of a movement pose of the robot and a predetermined mapping, which assigns each stance pose areas with several possible stalls, and the aspect of simulation, in which for at least one parameter of the dynamic model, a variation range is specified or , in one embodiment also be combined, in the exemplary embodiment, for example, by using interval arithmetic for the ranges of variation [mi, m 2 ], [B 1; B 2 ] is simulated until the velocities q p of the robot are in the predetermined range, and the stop-gap range [q 1; q 2 ] based on movement poses from the determined
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017010599.5A DE102017010599A1 (en) | 2017-11-15 | 2017-11-15 | Method and system for simulating a braking operation of a robot |
PCT/EP2018/079082 WO2019096551A1 (en) | 2017-11-15 | 2018-10-24 | Method and system for simulating a braking operation of a robot |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3710206A1 true EP3710206A1 (en) | 2020-09-23 |
Family
ID=64049184
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18795447.4A Pending EP3710206A1 (en) | 2017-11-15 | 2018-10-24 | Method and system for simulating a braking operation of a robot |
Country Status (6)
Country | Link |
---|---|
US (1) | US11633858B2 (en) |
EP (1) | EP3710206A1 (en) |
KR (1) | KR102613115B1 (en) |
CN (1) | CN111356558B (en) |
DE (1) | DE102017010599A1 (en) |
WO (1) | WO2019096551A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3498433A1 (en) * | 2017-12-14 | 2019-06-19 | Universal Robots A/S | Dynamical safety trajectories in a robotic system |
DE102021208576B3 (en) * | 2021-08-06 | 2022-10-06 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Specification of a permissible maximum speed of a robotic device |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6678582B2 (en) * | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
JP2007144524A (en) | 2005-11-24 | 2007-06-14 | Denso Wave Inc | Interference avoiding method of robot and robot |
EP1906281B1 (en) | 2006-09-30 | 2011-04-06 | ABB Technology AG | Method and system for designing and verifying safety areas of an industrial robot |
DE102007037078B4 (en) * | 2007-08-06 | 2022-01-27 | Kuka Roboter Gmbh | Method for complying with working space limits of a robot's work equipment |
JP5365524B2 (en) * | 2007-12-07 | 2013-12-11 | 株式会社安川電機 | Robot operation restriction method and robot system |
DE102009040145A1 (en) * | 2009-09-04 | 2011-03-10 | Kuka Roboter Gmbh | Method and device for stopping a manipulator |
DE102014226914B4 (en) * | 2014-12-23 | 2019-02-28 | Kuka Deutschland Gmbh | Override based predictive speed capping |
DE102015106227B3 (en) * | 2015-04-22 | 2016-05-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Controlling and / or regulating motors of a robot |
DE102015014994B3 (en) * | 2015-11-19 | 2017-01-05 | Kuka Roboter Gmbh | Control of a robot |
JP6444908B2 (en) | 2016-02-17 | 2018-12-26 | ファナック株式会社 | Robot simulation device for calculating sweep space |
JP6309990B2 (en) * | 2016-03-24 | 2018-04-11 | ファナック株式会社 | Robot system for controlling a robot composed of a plurality of mechanism units, the mechanism unit, and a robot control apparatus |
EP3498433A1 (en) * | 2017-12-14 | 2019-06-19 | Universal Robots A/S | Dynamical safety trajectories in a robotic system |
-
2017
- 2017-11-15 DE DE102017010599.5A patent/DE102017010599A1/en active Pending
-
2018
- 2018-10-24 WO PCT/EP2018/079082 patent/WO2019096551A1/en unknown
- 2018-10-24 CN CN201880074076.5A patent/CN111356558B/en active Active
- 2018-10-24 EP EP18795447.4A patent/EP3710206A1/en active Pending
- 2018-10-24 US US16/762,393 patent/US11633858B2/en active Active
- 2018-10-24 KR KR1020207013166A patent/KR102613115B1/en active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
KR102613115B1 (en) | 2023-12-12 |
US11633858B2 (en) | 2023-04-25 |
WO2019096551A1 (en) | 2019-05-23 |
KR20200085280A (en) | 2020-07-14 |
CN111356558A (en) | 2020-06-30 |
CN111356558B (en) | 2024-05-03 |
US20200384649A1 (en) | 2020-12-10 |
DE102017010599A1 (en) | 2019-05-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1906281B1 (en) | Method and system for designing and verifying safety areas of an industrial robot | |
EP2905111B1 (en) | Method for programming an industrial robot and associated industrial robot | |
EP2815855B1 (en) | Monitoring of a kinematically redundant robot | |
EP3285975B1 (en) | Controlling and/or regulating motors of a robot | |
EP2977149B1 (en) | Method and means for designing and/or operating a robot | |
DE102011106321A1 (en) | Method and control means for controlling a robot | |
CH709347A2 (en) | A method for path finding in an automated handling system and handling system with corresponding control module for pathfinding. | |
EP3725472A1 (en) | Method for determining a trajectory of a robot | |
DE102016000754A1 (en) | Method and system for path planning of a redundant robot | |
EP3710206A1 (en) | Method and system for simulating a braking operation of a robot | |
EP2977148B1 (en) | Method and device for controlling a robot | |
DE102017007359B4 (en) | Method and system for checking and / or modifying a work process of a robot | |
WO2017016641A2 (en) | Method and system for controlling a robot | |
WO2018228762A1 (en) | Controlling a robot | |
DE102017102621B3 (en) | robot | |
WO2015124170A1 (en) | Method and apparatus for emulating a programmable logic controller | |
DE102018209044B3 (en) | Force control of a robot | |
WO2020260555A1 (en) | System for performing an input on a robotic manipulator | |
DE102019219930B3 (en) | Method and system for controlling a robot | |
DE102020209866B3 (en) | Method and system for operating a robot | |
DE102014226914B4 (en) | Override based predictive speed capping | |
DE102018207921B3 (en) | Controlling a robot | |
EP4084937A1 (en) | Moving a reference fixed on a robot | |
WO2019224224A1 (en) | Method and controller for controlling a robot | |
WO2019219795A1 (en) | Controlling a robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20200408 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20211206 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230528 |