EP3717181A1 - Verfahren und system zum steuern eines roboters - Google Patents
Verfahren und system zum steuern eines robotersInfo
- Publication number
- EP3717181A1 EP3717181A1 EP18807602.0A EP18807602A EP3717181A1 EP 3717181 A1 EP3717181 A1 EP 3717181A1 EP 18807602 A EP18807602 A EP 18807602A EP 3717181 A1 EP3717181 A1 EP 3717181A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- adjustment
- operating mode
- robot
- task
- 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- Withdrawn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
- B25J9/1643—Programme controls characterised by the control loop redundant 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
-
- 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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
-
- 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
- G05B2219/39172—Vehicle, coordination between manipulator arm and its moving vehicle
-
- 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
- G05B2219/40298—Manipulator on vehicle, wheels, mobile
-
- 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
- G05B2219/40365—Configuration control, select other tasks by configuration of link positions
-
- 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
- G05B2219/40367—Redundant manipulator
Definitions
- the present invention relates to a method and system for controlling a robot to perform a task with respect to which the robot is redundant. If a robot has more degrees of freedom than a task requires, it is redundant with respect to this task.
- a robot arm with more than seven axes of motion or even a mobile robot with a movable platform and a six-axis robot arm can generally realize a predetermined three-dimensional position and orientation of an end effector in an infinite number of robot poses.
- Robotic arm realize a predetermined three-dimensional position of an arbitrarily orientable end effector in an infinite number of pose.
- Object of the present invention is the control of robots for
- one or more pairs of (each) two axes of movement of the robot are (respectively) an adjustment of a first of these two axes and an adjustment of one second of these two axes in dependence on an operating mode specification given such that
- Both axes for performing this task are adjustable or may be adjusted, in particular be adjusted, and the adjustment of the first axis with respect to the adjustment of the second axis is prioritized when a first operating mode is given, and - Both axes for performing this task are adjustable or may be adjusted, in particular adjusted, and the adjustment of the second axis is prioritized over the adjustment of the first axis when a second operating mode is specified.
- the (each) two axes advantageous
- the task can have several, in particular hierarchized, subtasks, for example the departure of a predetermined path of an end effector and the avoidance of collisions or the like.
- the two axes of the or a pair may be (kinematically or structurally) adjacent axis.
- one or more axes of the robot can be arranged between the two axes (kinematically or structurally).
- An axis of the robot can at the same time be an axis of two or more pairs of (each) two axes of motion in the sense of the present invention.
- a (permissible, in particular carried out) relative or absolute adjustment of an axis has a greater value than a (permissible or
- one axis may be more displaced or more displaced than another axis, if or by prioritizing the adjustment of one axis relative to the adjustment of the other axis.
- the adjustment of the first axis has a first amount and the adjustment of the second axis
- Adjustment of the first axis an amount that is smaller than the first and / or second amount, and / or the adjustment of the second axis an, in particular larger, amount that is greater than the first and / or second amount.
- the adjustment of the first axis relative to (the first axis adjustment) in the first operating mode is reduced and / or the second axis displacement is increased (the second axis adjustment) in the first operating mode.
- both axes of or one or more of the pairs (s) are adjustable to perform the task or may be adjusted, are in particular adjusted, the adjustment of the first axis relative to the adjustment of the second axis is prioritized more as in the first operating mode when a third operating mode is predetermined.
- the third operation mode the displacement of the first axis relative to (the first axis adjustment) in the first operation mode is increased.
- both axes of the or one or more of the pairs are adjustable or allowed to be adjusted to perform the task, in particular adjusted, the adjustment of the second axis is prioritized against the adjustment of the first axis as in the second mode of operation when a fourth mode of operation is predetermined.
- the second axis displacement is increased (second axis displacement) in the second mode of operation.
- the third axis for performing the task is adjustable or may be adjusted, in particular adjusted, and the adjustment of the third axis is prioritized over the adjustment of the first axis, when a first variant of the first mode of operation and / or a first variant of the third Operating mode is specified; and or
- the third axis for performing the task is adjustable or may be adjusted, in particular adjusted, and the adjustment of the first axis and second axis is prioritized over the adjustment of the third axis, when a second variant of the first mode of operation and / or a second Variant of the third operating mode is specified; and or
- the third axis for performing the task is adjustable or can be adjusted, in particular adjusted, and the adjustment of the first axis with respect to the adjustment of the third axis and the adjustment of the third axis with respect to the adjustment of the second axis is prioritized, if a third Variant of the first operating mode and / or a third variant of the third operating mode is predetermined;
- the third axis for performing the task is adjustable or may be adjusted, in particular adjusted, and the adjustment of the third axis with respect to the adjustment of the second axis is prioritized when a first variant of the second mode of operation and / or a first variant of the fourth Operating mode is specified; and or
- the third axis for performing the task is adjustable or may be adjusted, in particular adjusted, and the adjustment of the second axis and first axis is prioritized over the adjustment of the third axis, when a second variant of the second mode of operation and / or a first Variant of the fourth mode of operation is specified; and or -
- the third axis for performing the task is adjustable or may be adjusted, in particular is adjusted, and the adjustment of the second axis
- the at least three axes can advantageously be used in accordance with the situation.
- This axis is independent of the task is adjustable or may be adjusted, in particular is adjusted, or is locked or will, if a reduced operating mode is specified;
- the reduced mode of operation is the first or second mode of operation and the selected axis is an axis other than the first and second axes.
- the first and / or second axis can be disabled in a reduced operating mode different from the first and second operating modes or adjusted independently of the task or not to perform the task.
- the first or second mode of operation other than the reduced mode of operation and the selected axis is the first or second axis.
- axles can be used even more advantageously in a situation-appropriate manner.
- movement axes can also be blocked from operation, in particular movement, of the robot.
- the axes can be used even more advantageous situation appropriate.
- one or more of the modes of operation and / or variant (s) thereof are predetermined based on, in particular, an operation of a switch, in particular a physical or software switch.
- one or more of the operating modes and / or (their) variant (s) in one embodiment can also be predefined on the basis of, in particular by, a selection in a work program of the robot.
- one or more of the operating modes and / or variant (s) thereof (respectively) in one embodiment can also be predefined on the basis of, in particular by, touching a joint or member of the robot, in particular based on or Depending on their strength, direction and / or surface or the like.
- operating modes or variants can advantageously be specified, in particular intuitively, quickly, reliably and / or precisely.
- one or more of the modes of operation and / or variants are replaced by one or more parameters having a continuous one
- the prioritization between at least two of the axes can thus be varied steplessly in one embodiment.
- the axes can be used even more advantageous situation appropriate.
- the object may comprise, in particular, a manual guiding of the robot, in particular by manual loading of at least one member of the robot with an executive, and / or a departure of a predetermined path of a robot-fixed reference, in particular an end effector.
- the robot has a mobile, in particular mobile, platform and / or a, in particular multi-articulated, robot arm.
- the first axis is a movement axis of the mobile platform or the robot arm. Additionally or alternatively, in one embodiment, the second axis is a motion axis of the mobile platform or the robotic arm. Additionally or alternatively, in one embodiment, the third axis is one
- Movement axis of the mobile platform or the robot arm is a motion axis of the mobile platform or robot arm.
- the selected axis is locked by motor, if the reduced operating mode is specified.
- a system for controlling the robot for carrying out the task in particular hardware and / or software, in particular program technology, for implementing a method described here is set up and / or has:
- Movement axis in response to an operating mode specification such that for performing this task, this axis is independently adjustable or disabled from the task when a reduced operating mode is predetermined, and is adjustable to perform this task, if specified by this reduced operating mode different operating mode is, wherein this operating mode other than the reduced operating mode or the reduced operating mode is the first or second operating mode and / or the adjustment of this axis depending on the operating mode default is set before operation of the robot.
- system or its agent has:
- Operating mode is specified; and / or the third axis for performing the task is adjustable and the adjustment of the first axis and second axis is prioritized over the adjustment of the third axis, when a second
- Operating mode is specified; and / or the third axis for performing the task is adjustable and the adjustment of the first axis relative to the
- Adjustment of the third axis and the adjustment of the third axis with respect to the adjustment of the second axis is prioritized when a third variant of the first operating mode and / or a third variant of the third operating mode is specified; and / or that the third axis is adjustable for performing the task and the adjustment of the third axis is prioritized over the adjustment of the second axis when a first variant of the second operating mode and / or a first variant of the fourth operating mode is predetermined; and / or the third axis for performing the task is adjustable and the adjustment of the second axis and first axis is prioritized over the adjustment of the third axis, when a second variant of the second operating mode and / or a first variant of the fourth operating mode is specified; and / or the third axis for performing the task is adjustable and the adjustment of the second axis relative to the
- Adjustment of the third axis and the adjustment of the third axis with respect to the adjustment of the first axis is prioritized when a third variant of the second operating mode and / or a first variant of the fourth operating mode is given; and or
- a means in the sense of the present invention may be formed by hardware and / or software technology, 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 have one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
- the program may be such that it is capable of embodying or executing the methods described herein so that the CPU may perform the steps of such methods and thereby control, in particular, the robot.
- a computer program product may include, in particular, a storage medium for storing a program or a program stored thereon, in particular a nonvolatile storage medium, wherein execution of this program is prompted by a system or a controller, in particular a computer, here described method or perform one or more of its 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.
- the system includes the robot and / or its controller.
- controlling is in particular also a rule and / or, in an embodiment executed offline or before an operation of the robot,
- a movement axis of a robot can in particular comprise a rotational or rotational axis of a rotary joint or a translational or displacement axis of a sliding joint of a robot arm or a, in particular translatory or rotational, direction of movement of a platform, in particular.
- Fig. 1 a system according to an embodiment of the present invention.
- Fig. 2 a method for controlling a robot of the system according to an embodiment of the present invention.
- Fig. 1 shows a system according to an embodiment of the present invention, comprising a robot 10 with a mobile base 1 1 and a robot arm arranged thereon and a controller 20 for controlling the robot.
- the mobile base 1 1 by way of example only a linear axis of motion or a translational
- Movement axes and / or the robot arm additionally or alternatively have rotational and / or (further) translational degrees of freedom or axes of movement.
- a task in the form of a predetermined horizontal target speed is exemplified for the gripper 13 against the Prescribed environment, for example, in advance by a path planning or during operation by a hand guide.
- a robot controller 20 detects an operation mode default.
- a step S20 the speeds of the three axes are then determined according to
- the operator can, for example, also specify the following operating modes:
- the user can accordingly prioritize or deactivate or block the individual axes differently.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017011130.8A DE102017011130B4 (de) | 2017-12-01 | 2017-12-01 | Verfahren und System zum Steuern eines Roboters |
PCT/EP2018/081903 WO2019105801A1 (de) | 2017-12-01 | 2018-11-20 | Verfahren und system zum steuern eines roboters |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3717181A1 true EP3717181A1 (de) | 2020-10-07 |
Family
ID=64453490
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18807602.0A Withdrawn EP3717181A1 (de) | 2017-12-01 | 2018-11-20 | Verfahren und system zum steuern eines roboters |
Country Status (6)
Country | Link |
---|---|
US (1) | US11826911B2 (de) |
EP (1) | EP3717181A1 (de) |
KR (1) | KR20200090852A (de) |
CN (1) | CN111432988A (de) |
DE (1) | DE102017011130B4 (de) |
WO (1) | WO2019105801A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022208769B3 (de) | 2022-08-24 | 2023-11-09 | Kuka Deutschland Gmbh | Roboterbahnplanung und -steuerung |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
US5550953A (en) * | 1994-04-20 | 1996-08-27 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | On-line method and apparatus for coordinated mobility and manipulation of mobile robots |
JP4910552B2 (ja) | 2006-08-04 | 2012-04-04 | トヨタ自動車株式会社 | 動作データ作成装置及びその方法 |
KR20110010796A (ko) * | 2008-05-21 | 2011-02-07 | 조지아 테크 리서치 코포레이션 | 힘 균형 유지 이동성 로봇 시스템 |
US8401702B2 (en) * | 2008-06-06 | 2013-03-19 | Panasonic Corporation | Robot, and control apparatus, control method, and control program for robot |
JP2010099764A (ja) | 2008-10-22 | 2010-05-06 | Hitachi Global Storage Technologies Netherlands Bv | 搬送システム及び自動化製造システム |
DE102009007181A1 (de) * | 2009-02-03 | 2010-08-05 | Kuka Roboter Gmbh | Verfahren zum Abfahren einer vorgegebenen Bahn durch einen Manipulator, sowie Steuervorrichtung zur Durchführung eines solchen Verfahrens |
JP4947073B2 (ja) * | 2009-03-11 | 2012-06-06 | トヨタ自動車株式会社 | ロボット装置及びその制御方法 |
JP2011183527A (ja) | 2010-03-10 | 2011-09-22 | Toyota Motor Corp | 冗長ロボットの関節目標値決定方法及び冗長ロボットの制御装置 |
JP5267737B2 (ja) | 2011-01-31 | 2013-08-21 | トヨタ自動車株式会社 | 安全制御装置および安全制御方法 |
JP6312264B2 (ja) * | 2012-09-17 | 2018-04-18 | リシンク ロボティクス インコーポレイテッド | 冗長自由度を伴うロボットマニピュレータの制約 |
DE102013222456A1 (de) * | 2013-11-05 | 2015-05-07 | Kuka Laboratories Gmbh | Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter |
DE102013227147A1 (de) * | 2013-12-23 | 2015-06-25 | Daimler Ag | Verfahren zum automatisierten Drehfügen und/oder Drehlösenvon Bauteilen, sowie zugehöriger Industrieroboter und automatisierterMontagearbeitsplatz |
DE102014202145A1 (de) | 2014-02-06 | 2015-08-06 | Kuka Roboter Gmbh | Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter |
JP5893666B2 (ja) * | 2014-04-14 | 2016-03-23 | ファナック株式会社 | 力に応じて動かすロボットのロボット制御装置およびロボットシステム |
DE102014214861B4 (de) * | 2014-07-29 | 2020-04-16 | Siemens Healthcare Gmbh | Verfahren zum Betreiben eines medizinisch-robotischen Geräts sowie medizinisch-robotisches Gerät |
DE102014222809B3 (de) * | 2014-11-07 | 2016-01-14 | Kuka Roboter Gmbh | Event-basierte Redundanzwinkelkonfiguartion für Gelenkarmroboter |
EP3342556A4 (de) * | 2015-08-25 | 2019-05-29 | Kawasaki Jukogyo Kabushiki Kaisha | Robotersystem |
JP6939778B2 (ja) * | 2016-04-28 | 2021-09-22 | ソニーグループ株式会社 | 制御装置、制御方法及び手術システム |
JP2019051578A (ja) * | 2017-09-19 | 2019-04-04 | セイコーエプソン株式会社 | ロボット、ロボットシステム、及びロボット制御装置 |
US11173048B2 (en) * | 2017-11-07 | 2021-11-16 | Howmedica Osteonics Corp. | Robotic system for shoulder arthroplasty using stemless implant components |
-
2017
- 2017-12-01 DE DE102017011130.8A patent/DE102017011130B4/de active Active
-
2018
- 2018-11-20 WO PCT/EP2018/081903 patent/WO2019105801A1/de unknown
- 2018-11-20 US US16/767,766 patent/US11826911B2/en active Active
- 2018-11-20 EP EP18807602.0A patent/EP3717181A1/de not_active Withdrawn
- 2018-11-20 CN CN201880077766.6A patent/CN111432988A/zh active Pending
- 2018-11-20 KR KR1020207017889A patent/KR20200090852A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
CN111432988A (zh) | 2020-07-17 |
DE102017011130B4 (de) | 2021-03-04 |
WO2019105801A1 (de) | 2019-06-06 |
US20200361086A1 (en) | 2020-11-19 |
US11826911B2 (en) | 2023-11-28 |
KR20200090852A (ko) | 2020-07-29 |
DE102017011130A1 (de) | 2019-06-06 |
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