EP3917724A1 - Koordination von bahnen zweier robotermanipulatoren - Google Patents
Koordination von bahnen zweier robotermanipulatorenInfo
- Publication number
- EP3917724A1 EP3917724A1 EP20702999.2A EP20702999A EP3917724A1 EP 3917724 A1 EP3917724 A1 EP 3917724A1 EP 20702999 A EP20702999 A EP 20702999A EP 3917724 A1 EP3917724 A1 EP 3917724A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- path
- robot manipulator
- data set
- reference point
- web
- 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- Withdrawn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
- 238000000034 method Methods 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 16
- 239000012636 effector Substances 0.000 claims description 7
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000012884 algebraic function Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
-
- 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
- G05B2219/39136—Teach each manipulator independently or dependently from each other
-
- 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
- G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
Definitions
- the invention relates to a method for teaching and executing mutually coordinated paths of a first robot manipulator and a second
- Robot manipulator Especially when a first robot manipulator and a second
- Robot manipulator For example, if a load is to be lifted and transported by the first robot manipulator and the second robot manipulator, it is crucial that the first and the second robot manipulator coordinate
- the object of the invention is to specify a movement path for a first robot manipulator and a second movement path of a second robot manipulator coordinated to the first movement path by means of a teaching process (“teaching”, also “teach-in”).
- teaching also “teach-in”.
- a first aspect of the invention relates to a method for teaching mutually coordinated paths, a first robot manipulator and a second
- Robot manipulator comprising the steps:
- Robot manipulator according to the second data set.
- Manual guidance is preferably understood to mean a process in which the user in particular places his hand on one of the limbs of a particular person
- Robot manipulator sets and accelerates it in a desired direction by applying a force to it.
- the first robot manipulator and the second robot manipulator are in particular two independent robot manipulators, i. H. each of the robot manipulators could also perform tasks independently and is controlled by its own control unit.
- the first robot manipulator and the second are alternatively preferred
- Robot manipulator arranged on a common platform and are controlled by a common control unit.
- the invention relates to both
- pose set is advantageously understood to mean a time series of poses of the respective robot manipulator. Accordingly, in particular in each individual time step of a plurality of time steps, a pose of the respective one
- Robot manipulator recorded and saved.
- a pose is saved in particular by a vector of joint angles, so that a saved pose can be clearly restored at any time.
- a path of the respective reference point is recorded explicitly, for example by an optical detection system, when a set of positions is detected, a complete set of joint angles of the respective one is in particular obtained
- Robot manipulator detected. If the item set is traversed in accordance with the respective data set, the respective path of the respective item is obtained in turn
- a respective path of a respective robot manipulator only describes the geometric path of the respective reference point, without including time information of a respective location on the path.
- a trajectory contains the geometric path of the train, with each location also being associated with time information as to the point in time at which the location is to be traveled.
- the detection of the first path and also the detection of the second path are preferably carried out by position sensors, in particular on the joints of the respective robot manipulator.
- the leading user can guide any link of the robot manipulator to manually guide a respective reference point. It is not necessary for the user to start directly at the reference point of the respective robot manipulator.
- the automatic departure of the first lane and the synchronized departure of the first lane and the second lane are in particular each carried out by one
- the first data set and the second data set are coordinated with one another in such a way that a location of the first path and a location of the second path have their respective relative positions predetermined by the learning process at a respective point in time.
- Robot manipulator and a second path of a second robot manipulator in
- Relation to each other can be determined very easily by a user.
- the user only has to manually guide a single robot manipulator at a time, and in particular during the automatic shutdown of the can observe the first path through the first robot manipulator, this is a very precise learning process, in particular of the second path of the second
- Robot manipulator possible relative to the first path of the first robot manipulator.
- the first data record stores the first path and the second data record stores the second path in each case by means of a discrete number of path points, with a length of the second data record being matched to the length of the first data record to assign the second data record to the first data record, so that the first data set and the second data set have an equal number of discrete path points.
- Control programs according to which the joint angles in particular are regulated in discretized time steps.
- the matching of the respective lengths of the respective data set, which corresponds to the matching of the number of the respective discrete path points per data set, is preferably carried out by omitting a certain number of discrete points of view in the initially longer data set, or by
- the first data set stores the first path and the second data set stores the second path in each case in vector form.
- vectorized means that the first trajectory and the second trajectory are in the form of an analytical expression, preferably by means of a polynomial function, Bezier curve, or another algebraic function that can be parameterized within their order.
- the first path and / or the second path are each stored very efficiently.
- the first reference point and / or the second reference point is in each case a predetermined point on a respective end effector of the respective robot manipulator.
- the respective end effector of the respective robot manipulator is arranged in particular on the respective distal member of the respective robot manipulator.
- the first robot manipulator is controlled in a gravity-compensated manner during manual guidance of the first robot manipulator and / or the second robot manipulator is controlled in a gravity-compensated manner during manual guidance of the second robot manipulator.
- the actuators of a respective robot manipulator are controlled in such a way that gravity does not result in any acceleration of the respective robot manipulator.
- the respective robot manipulator can preferably be moved as desired by manual guiding. This advantageously makes it easier for a user to manually guide the respective robot manipulator.
- the first robot manipulator and / or the second robot manipulator each have links connected to one another by joints with at least partially redundant degrees of freedom, so that at least a subset of the links of the first robot manipulator and / or the second robot manipulator can each be moved in a zero space , wherein the first data set and / or the second data set, in addition to the respective path of the respective reference point, has information about a respective pose of the respective robot manipulator in its zero space.
- the pose of a respective robot manipulator generally describes both
- Robot manipulator or an end effector of a respective robot manipulator Robot manipulator or an end effector of a respective robot manipulator.
- Another aspect of the invention relates to a system for teaching mutually coordinated paths of a first robot manipulator and a second Robot manipulator, comprising a first robot manipulator with a first control unit and a second robot manipulator with a second control unit, wherein the first robot manipulator has a first path detection unit and wherein the second robot manipulator has a second path detection unit, the first path detection unit being designed to perform a desired first path the first reference point of the first robot manipulator or a first set of positions for the first path when the first robot manipulator is guided manually and stored in a first data set, the first control unit being designed to control the first robot manipulator for traversing the first path in accordance with the first data set , and wherein the second path detection unit is designed to provide a desired second path of a second reference point of the second robot manipulator or a second set of poses for the second path at a ma Guide the second robot manipulator during the traversing of the first path through the first robot manipulator and store it in a second data set, the second data set being assigned to the
- the first control unit and / or the second control unit are each designed to use the first robot manipulator
- Fig. 1 shows a method for teaching and executing mutually coordinated paths of a first robot manipulator and a second
- Fig. 2 shows a system for teaching mutually coordinated paths of a first
- Robot manipulator and a second robot manipulator according to a further embodiment of the invention.
- 1 shows a method for teaching and executing mutually coordinated paths 11, 22 of a first robot manipulator 10 and a second
- Robot manipulator 20 comprising the steps:
- FIG. 2 shows a system 100 for teaching in mutually coordinated paths 11, 22 of a first robot manipulator 10 and a second robot manipulator 20, comprising a first robot manipulator 10 with a first control unit 14 and a second robot manipulator 20 with a second control unit 24,
- first robot manipulator 10 has a first path detection unit 15 and wherein the second robot manipulator 20 has a second path detection unit 25, wherein the first path detection unit 15 is designed to provide a desired first path 11 of a first reference point of the first robot manipulator 10 at one manually guiding the first robot manipulator 10 and storing them in a first data record, the first control unit 14 being designed to control the first robot manipulator 10 for moving off the first path 11 in accordance with the first data record, and the second path detection unit 25 being designed to a desired second path 22 of a second reference point of the second
- Robot manipulator 20 during a manual guiding of the second robot manipulator 20 during the traversing of the first path 11 by the first robot manipulator 10 and to be stored in a second data record, the second data record being assigned to the first data record in such a way that each location of the second track 22 is one Location of the first track 11 is at least approximately assigned.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019102427.7A DE102019102427B4 (de) | 2019-01-31 | 2019-01-31 | Koordination von Bahnen zweier Robotermanipulatoren |
PCT/EP2020/052275 WO2020157187A1 (de) | 2019-01-31 | 2020-01-30 | Koordination von bahnen zweier robotermanipulatoren |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3917724A1 true EP3917724A1 (de) | 2021-12-08 |
Family
ID=69411433
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20702999.2A Withdrawn EP3917724A1 (de) | 2019-01-31 | 2020-01-30 | Koordination von bahnen zweier robotermanipulatoren |
Country Status (8)
Country | Link |
---|---|
US (1) | US20220072711A1 (de) |
EP (1) | EP3917724A1 (de) |
JP (1) | JP7325133B2 (de) |
KR (1) | KR20220020244A (de) |
CN (1) | CN113302026A (de) |
DE (1) | DE102019102427B4 (de) |
SG (1) | SG11202108068UA (de) |
WO (1) | WO2020157187A1 (de) |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3086082B2 (ja) * | 1992-08-25 | 2000-09-11 | ファナック株式会社 | ロボットの同期制御方法およびロボットの同期制御装置 |
JP3306781B2 (ja) * | 1992-12-31 | 2002-07-24 | 株式会社ダイヘン | 産業用ロボットの手動操作による教示制御装置および教示方法 |
DE60035651T2 (de) * | 1999-09-16 | 2008-05-21 | Fanuc Ltd. | Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern |
US6804580B1 (en) * | 2003-04-03 | 2004-10-12 | Kuka Roboter Gmbh | Method and control system for controlling a plurality of robots |
FR2879119B1 (fr) * | 2004-12-10 | 2007-02-09 | Afe Metal Soc Par Actions Simp | Procede de commande de robots, installation de traitement de pieces, et application |
CN101687321B (zh) * | 2007-07-05 | 2012-08-08 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、机器人及控制程序 |
JP5375297B2 (ja) * | 2009-04-16 | 2013-12-25 | 株式会社安川電機 | ロボットシステム |
DE102010029745A1 (de) * | 2010-06-07 | 2011-12-08 | Kuka Laboratories Gmbh | Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren |
DE102010052253B4 (de) * | 2010-11-23 | 2019-03-21 | Kuka Deutschland Gmbh | Verfahren und Steuermittel zur Steuerung einer Roboteranordnung |
KR101193211B1 (ko) * | 2012-04-19 | 2012-10-19 | 한국기계연구원 | 양팔 로봇의 직접 교시 방법 |
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 |
DE102013220798A1 (de) * | 2013-10-15 | 2015-04-16 | Kuka Laboratories Gmbh | Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter |
DE102013222456A1 (de) * | 2013-11-05 | 2015-05-07 | Kuka Laboratories Gmbh | Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter |
DE102014202145A1 (de) * | 2014-02-06 | 2015-08-06 | Kuka Roboter Gmbh | Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter |
JP6630042B2 (ja) * | 2014-12-26 | 2020-01-15 | 川崎重工業株式会社 | 双腕ロボットの教示システム及び双腕ロボットの教示方法 |
US10076840B2 (en) * | 2015-04-03 | 2018-09-18 | Canon Kabushiki Kaisha | Information processing apparatus, information processing method, and program |
DE102015007486A1 (de) * | 2015-06-11 | 2015-12-17 | Daimler Ag | Handlingsgerät und Verfahren zur Programmierung eines Roboters |
DE102015116086A1 (de) * | 2015-09-23 | 2017-03-23 | Universität Bayreuth | Robotersteuerung |
JP6706489B2 (ja) * | 2015-11-24 | 2020-06-10 | 川崎重工業株式会社 | ロボットのダイレクト教示方法 |
JP2018015853A (ja) * | 2016-07-29 | 2018-02-01 | セイコーエプソン株式会社 | ロボット、及びロボットシステム |
WO2018091103A1 (en) * | 2016-11-18 | 2018-05-24 | Abb Schweiz Ag | A robot arm system and a method for handling an object by a robot arm system during lead through programming |
US11833681B2 (en) * | 2018-08-24 | 2023-12-05 | Nvidia Corporation | Robotic control system |
-
2019
- 2019-01-31 DE DE102019102427.7A patent/DE102019102427B4/de active Active
-
2020
- 2020-01-30 SG SG11202108068UA patent/SG11202108068UA/en unknown
- 2020-01-30 EP EP20702999.2A patent/EP3917724A1/de not_active Withdrawn
- 2020-01-30 CN CN202080009020.9A patent/CN113302026A/zh active Pending
- 2020-01-30 KR KR1020217027378A patent/KR20220020244A/ko active IP Right Grant
- 2020-01-30 JP JP2021544555A patent/JP7325133B2/ja active Active
- 2020-01-30 WO PCT/EP2020/052275 patent/WO2020157187A1/de unknown
- 2020-01-30 US US17/424,738 patent/US20220072711A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
CN113302026A (zh) | 2021-08-24 |
KR20220020244A (ko) | 2022-02-18 |
SG11202108068UA (en) | 2021-08-30 |
JP7325133B2 (ja) | 2023-08-14 |
DE102019102427B4 (de) | 2022-02-10 |
DE102019102427A1 (de) | 2020-08-06 |
JP2022519248A (ja) | 2022-03-22 |
WO2020157187A1 (de) | 2020-08-06 |
US20220072711A1 (en) | 2022-03-10 |
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