EP4126475A1 - Verfahren zum justieren eines roboterarms - Google Patents
Verfahren zum justieren eines roboterarmsInfo
- Publication number
- EP4126475A1 EP4126475A1 EP21712111.0A EP21712111A EP4126475A1 EP 4126475 A1 EP4126475 A1 EP 4126475A1 EP 21712111 A EP21712111 A EP 21712111A EP 4126475 A1 EP4126475 A1 EP 4126475A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- structural member
- drive
- output
- robot arm
- collision
- 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- Withdrawn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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- G05B19/401—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
- G05B19/4015—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
-
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41092—References, calibration positions for correction of value position counter
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50042—Return to origin, reference point, zero point, homing
Definitions
- the present invention relates to a method and system for controlling, in particular (for) adjusting, a robot arm which has at least one axis with a structural member, a further structural member mounted thereon and a drive with a motor for moving the further structural member relative to the one structural member, and a computer program product for carrying out the method.
- Robot arms are adjusted in accordance with in-house practice by moving to, in particular overriding, a predetermined adjustment position with or in their individual axes or joints.
- a predetermined adjustment position with or in their individual axes or joints.
- the adjustment position of the two structural members is reached, for example by means of a button or magnetically, it is recognized and a position of the axle or the axle drive in the adjustment position is detected by sensors. This can create an offset between the positions of the axle or axle drive detected by sensors and the actual
- Positions of the corresponding structural members of the axis are determined relative to one another and taken into account when the robot is operated.
- a parameter is stored that specifies a search direction for approaching or driving over. If, for example, the axis was last to the left of its adjustment position when the robot arm was (still) adjusted, it will be adjusted to the right accordingly.
- An object of an embodiment of the present invention is to improve control or adjustment of a robot arm.
- a robot arm has one or more, in one embodiment at least six, in particular at least seven, axes or joints, in one embodiment rotary axes or joints, each with a one-part or multi-part structural member, which in the present case is without limitation generally referred to as a drive structural member, a one-part or multi-part further structural member mounted thereon, rotatable in one embodiment, which in the present case is referred to as an output structural member without loss of generality, and a drive, the drive having (at least) one Has motor which moves the (respective) output structural member relative to the (respective) drive structural member, in particular rotates, or is set up or used for this purpose.
- the output structural member (the) at least one axle forms the drive structural member of a subsequent axle.
- the present invention can be used with particular advantage for such robot arms, in particular because of their kinematics.
- its output structural member in order to adjust one of the axes, its output structural member is moved by its drive relative to its drive structural member (initially) in a search direction which corresponds to a predetermined travel direction in order to move to a predetermined adjustment position, in one embodiment , this search direction (then) reversed and the output structural member in this reversed search direction or opposite to the specified or initially applied direction of travel is moved in order to approach the specified adjustment position, in particular to drive over it,
- the output structural member of an axis is moved by its drive relative to its drive structural member in the search direction, while one or more, in one embodiment all of the other axes of the robot arm stand still, in particular axes of the robot arm can be consecutively as described here adjusted.
- the accuracy of the adjustment can be improved in one embodiment.
- the output structural members of at least two axes of the robot arm are moved by their drives relative to their respective drive structural member simultaneously in the search directions; in particular, two or more axes of the robot arm can be adjusted in parallel as described here.
- the adjustment can be accelerated in one embodiment.
- the output structural member is moved relative to the drive structural member in the search direction at a reduced maximum speed (the search speed) compared to an automatic operation of the robot arm.
- the search speed can preferably be less than 50%, preferably less than 10%, in particular less than 5%, of the maximum speed.
- the accuracy of the adjustment can be improved and / or the effect of a collision when (attempted) approaching or overriding the adjustment position can be reduced.
- the (predetermined) direction of travel is or is predetermined on the basis of a parameter stored in one embodiment when the robot arm was switched off for the last time.
- the parameter indicates or depends on whether the axis or the output structural member is, in particular last, in a direction of movement along the axis, in particular a direction of rotation around the (rotational) axis, before or after the adjustment position and accordingly the specified direction of travel corresponds to this direction of movement (if the axis or the output structural member was still before the adjustment position) or is opposite to this (if the axis or the output structural member was already after the adjustment position).
- the predefined adjustment position is approached or passed over, in one embodiment contactless, in particular magnetically and / or electrically, in one embodiment by means of at least one Hall sensor, or mechanically, in particular with the help of at least one pushbutton, which in an embodiment in the adjustment position engages in a notch, recorded and the robot arm adjusted on the basis of this detection.
- a predetermined pre-adjustment position is first approached on the basis of this acquisition, in particular by moving a predetermined path and / or against the search direction during acquisition or against the search direction used or present during acquisition, and then the predetermined adjustment position from this pre-adjustment position (again, especially in this search direction) approached, overrun in one execution.
- the accuracy of the adjustment can be improved in one embodiment.
- an offset between an actual position of the output structural member relative to the drive structural member and a position of the output structural member and / or drive detected by sensors, in particular with the aid of a joint sensor, is determined and, in one embodiment, during subsequent operation , in particular control and / or automatic operation, the robot arm taken into account.
- An offset can in particular also be taken into account in that the position detected by the sensors is zeroed in the adjustment position or, accordingly, an offset is (then) equal to zero.
- the robot arm is stopped and / or an error message is output if, while moving against the specified direction of travel or in the reverse search direction, in particular by means of a method described here and / or again, there is a collision of the output structural member with a drive structural member-side end stop is detected and / or if a collision of the drive structural member with an output structural member-side end stop is detected during movement against the specified direction of travel or in the reverse search direction, in particular by means of a method described here and / or again and / or if a collision of the robot arm with itself or its surroundings is detected while moving against the specified travel direction or in the reverse search direction, in particular by means of a method described here and / or again.
- Another aspect of the present invention relates generally to detecting a collision of the output structural member with an end stop on the drive structural member side or of the drive structural member with an end stop on the output structural member side or of the robot arm with itself or its surroundings.
- this further aspect of the present invention relates to a method for, in particular manual or automated, control of a robot arm that is currently not, in particular no longer, adjusted or currently to be adjusted, in one embodiment during or at, in particular, a new one , Adjusting the robot arm.
- a collision can advantageously, in particular reliably, simply, quickly and / or redundantly, in particular diversely, be detected. If a collision is or has been detected, in one embodiment, as described here, a search direction is reversed during adjustment. Another reaction can be triggered in the same way. In one embodiment, a reaction is triggered, in one embodiment an alarm signal is output and / or the robot arm is stopped and / or, in particular beforehand, moved into a safe pose and / or, in particular, its speed and / or drive power is reduced, if, in particular as soon as a collision is or has been detected.
- the torque between the output structural member and the drive is detected in one embodiment with the aid of a joint torque sensor, which in one embodiment is arranged on the output side of the motor, in one embodiment (also) on the output side of a gearbox or between the gearbox and the output structural member.
- a torque between the output structural member and the drive generally changes when the output structural member is moved, in particular due to a changing center of gravity of the output structural member.
- the torque changes (significantly) quickly, in particular a kind of kink in the torque curve over time or the joint torque sensor signal can arise.
- a collision can be detected particularly advantageously, in particular reliably and / or (particularly) quickly.
- a collision is detected if a change in torque over time or a quantitative measure thereof, in particular in terms of amount, exceeds a predetermined limit value or the torque between the output structural member and the drive changes faster than the maximum permitted or limit value . intended.
- a collision can be detected particularly advantageously, in particular reliably, simply and / or (particularly) quickly.
- the motor continues to push against the mechanical resistance even after the collision.
- This increases the motor torque or the motor current.
- a collision can occur on the basis of the engine torque or current advantageously, in particular reliably and / or additionally, in particular redundantly, are recorded.
- a (permitted or permissible or customary or used) window around the motor torque, filtered in one embodiment, in particular high-pass filtered, or the motor current filtered in one embodiment, in particular high-pass filtered, is specified in a Execution during operation of the robot arm, in particular by machine, learned, and in a subsequent control, in particular adjustment according to the invention, in one embodiment, when the window, which is enlarged by a predetermined factor, is exceeded by the, in one embodiment (high-pass), filtered,
- Motor torque or the, in one version (high-pass) filtered, motor current around a collision is detected, the predefined factor in one version being at least two, in particular at least four, in particular a collision when the five-fold (predefined or learned) window is exceeded, for example recorded.
- a collision can be detected particularly advantageously, in particular reliably.
- the motor pushes the output structural member further.
- the part of the drive on the motor or drive-structural member side is moved even further, while the output structural member or the driven structural member-side part of the drive is already at a standstill.
- a collision can be advantageous, particularly reliable and / or additional , especially redundantly, are recorded.
- a collision is detected if the following error, in particular in terms of amount, exceeds a predetermined limit value, this limit value in one embodiment being smaller than a permissible following error at which the robot arm is stopped, and / or this limit value during operation of the robot arm , especially by machine, is or is being learned.
- a collision can be detected particularly advantageously, in particular reliably, by a combination of two or more of the aforementioned criteria (a) - (f).
- two or more of the aforementioned criteria (a) - (f) are “OR” -linked with one another or a collision is detected if at least one of at least two of the aforementioned criteria (a) - (f) is met is.
- a collision of the output structure member with an end stop on the drive structure member side or of the drive structure member with an end stop on the output structure member side or of the robot arm with itself or its surroundings during a movement of the output structure member relative to the drive occurs -Structural link through the drive
- this enables a collision to be detected particularly advantageously, in particular reliably, since or when a torque between the output structural member and the drive, an engine torque or flow and an actual position or a following error are independent of one another can be recorded.
- this torque or this motor current is highly pass-filtered and the collision is based on this highly pass-filtered torque or Motor current detected.
- a torque between the output structural member and the drive is detected, high-pass filtered, a collision is detected if this high-pass filtered torque, in particular in terms of amount, exceeds a predetermined limit value.
- a predetermined limit value usual or used
- window around the high-pass filtered torque specified in one embodiment during a previous, in one embodiment, operation of the robot arm, in particular by machine, learned, and when the window, enlarged by a specified factor, around the torque between the output structural member is exceeded and the drive around a collision is detected, wherein the predetermined factor in one embodiment is at least one and a half times, in particular at least twice, and in this way a collision is detected on the basis of a temporal change in a torque between the output structural member and the drive.
- the change over time or a quantitative measure for this is determined by the high-pass filtering and compared, in particular in terms of amount, with a predetermined limit value or window.
- a changing center of gravity or a gravitational component of the output structural member or engine torque or current can advantageously be at least partially compensated for. This is particularly advantageous if the currently unadjusted robot arm is controlled or, in particular when adjusting, is monitored for a collision, since then its center of gravity or gravitational component may not be able to be determined accurately enough with the aid of a model.
- a system in particular in terms of hardware and / or software, in particular in terms of programming, is set up to carry out a method described here.
- the system comprises: - Means for moving the output structural member, in particular when at least one other such axis of the robot arm is at a standstill, by the drive relative to the drive structural member, in particular at a reduced maximum speed compared to an automatic mode, in a search direction that corresponds to a predetermined direction of travel by a to move to the specified adjustment position, in particular to drive over it, as well as
- the system has in one version:
- system or its means has:
- the detection of a collision at an end stop can preferably be used for a pre-adjustment.
- the relative position between the end stop and the adjustment position is usually known.
- the displacement angle of an axis from the end stop to the adjustment position can be determined and the drive structure member and the output structure member can be displaced relative to one another by means of the drive at a speed higher than the search speed (namely the jump speed).
- the jumping speed can be greater than 5%, preferably between 10% and 50%, in particular between 50% and 100% of the maximum speed.
- only the travel angle between the end stop and the estimated adjustment position is preferably driven to less than about 80% or less than about 90% or less than about 95% with the jumping speed.
- a means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a processing unit, in particular a microprocessor unit (CPU), graphics card (GPU), preferably a data or signal connected to a memory and / or bus system, in particular a digital processing unit ) or the like, and / or one or more programs or program modules.
- the processing unit can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output output signals to a data bus.
- a storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media.
- a computer program product can have, in particular a non-volatile, storage medium for storing a program or with a program stored thereon, execution of this program causing a system or a controller, in particular a computer, to do so to carry out the method described here or one or more of its steps.
- one or more, in particular all, steps of the method are carried out completely or partially in an automated manner, in particular by the system or its means.
- the system has the robot arm.
- FIG. 1 shows a system according to an embodiment of the present invention
- FIG. 1 shows a system according to an embodiment of the present invention with a six-axis robot arm 1 and a robot controller 2.
- the robot arm 1 has six successive axes of rotation, of which a horizontal axis of rotation 10 closest to the bottom is partially shown in FIG. 2.
- This axis of rotation 10 has a motor M which is arranged in the structural drive element 11 of the axle 10 and which drives a transmission G which is connected to the structural output element 12 of the axle 10 via a torque sensor D.
- a motor torque or current of the motor M is detected by a sensor M1, an actual position of the motor M by a sensor M2.
- An actual position of the output structural member 12 is detected by a sensor P in one embodiment.
- the other axes of the robot arm 1 can be constructed analogously, for example the subsequent axis of rotation 20 with its structural drive member 12.
- a direction of travel for the axis of rotation 10 is specified.
- step S20 in one embodiment only, the output structural member 12 is rotated relative to the drive structural member 11 about the axis of rotation 10 in a search direction which (initially) corresponds to this predetermined direction of travel, in that the controller 2 activates the motor M accordingly .
- step S30 it is checked whether the robot arm or the axis of rotation 10 has reached the adjustment position, for example by a Hall sensor on one of the drive structural member 11 and output structural member 12 having a magnet on the other of the drive Structural member 11 and output structural member 12 detected, a button on one of the drive structural member 11 and output structural member 12 engages in a notch on the other of the drive structural member 11 and output structural member 12, or the like.
- step S40 the position detected by the sensor M2 or P is adjusted accordingly or a corresponding offset between the actual position detected by the sensors and the actual position of the output structural member 12 relative to the drive -Structural member 11 is determined in the adjustment position and used or taken into account in the further control of the robot arm (step S40).
- a pre-adjustment position offset by a predetermined distance from the adjustment position is first approached, and from this the adjustment position is approached again.
- step S50 it is checked in a step S50 whether a collision of the output structural member 12 with an end stop 13 on the drive structural member side or a collision of the robot arm 1 with itself or with a floor surface 3 has been detected.
- a change over time in the torque determined by the sensor D or the torque determined by the sensor D and high-pass filtered exceeds a limit value in terms of amount
- the deviation of the motor torque or current determined and filtered by sensor M1 is outside the five times the learned permissible window or torque hose around this filtered motor torque or this filtered motor current; or
- step S50 a tracking error between the actual position detected by the sensor M2 or P and a corresponding target position exceeds a predetermined limit value in terms of amount. If none of these conditions are met (S50: “N”), the method or the controller 2 returns to step S20, ie the output structural member 12 moves further relative to the drive structural member 11 in the specified travel direction.
- step S60 it is checked in step S60 whether the search direction has already been reversed once.
- step S70 the search direction is reversed (step S70) and the method or controller 2 returns to step S20, ie the output structural member 12 now moves in the opposite direction relative to the drive structural member 11 Search direction or against the specified direction of travel.
- step S60 was not reached because an attempt was initially made to approach the adjustment position with the wrong search direction, but rather a collision with an unknown or expected obstacle or the like occurred.
- the robot is therefore stopped in step S80 and an error message is output.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020203671.3A DE102020203671B4 (de) | 2020-03-23 | 2020-03-23 | Verfahren zum Steuern eines Roboterarms |
PCT/EP2021/056185 WO2021190947A1 (de) | 2020-03-23 | 2021-03-11 | Verfahren zum justieren eines roboterarms |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4126475A1 true EP4126475A1 (de) | 2023-02-08 |
Family
ID=74874857
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21712111.0A Withdrawn EP4126475A1 (de) | 2020-03-23 | 2021-03-11 | Verfahren zum justieren eines roboterarms |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4126475A1 (de) |
DE (1) | DE102020203671B4 (de) |
WO (1) | WO2021190947A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114872034A (zh) * | 2022-06-16 | 2022-08-09 | 北京市商汤科技开发有限公司 | 一种机械臂驱动结构、臂型机器人及驱动方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3726885C2 (de) * | 1987-08-12 | 1995-07-13 | Siemens Ag | Stellgerät |
DE3832457A1 (de) | 1988-09-23 | 1989-11-30 | Kuka Schweissanlagen & Roboter | Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse |
DE3837526A1 (de) | 1988-09-23 | 1989-12-28 | Kuka Schweissanlagen & Roboter | Verfahren und vorrichtung zum justieren einer achse |
US5457367A (en) | 1993-08-06 | 1995-10-10 | Cycle Time Corporation | Tool center point calibration apparatus and method |
DE19838293A1 (de) * | 1998-08-24 | 2000-03-02 | Bosch Gmbh Robert | Verfahren zum Positionieren eines Teils |
DE20003381U1 (de) | 2000-02-24 | 2001-07-05 | Kuka Schweissanlagen Gmbh | Prüfeinrichtung für bewegliche optische Messeinrichtungen |
WO2009132703A1 (en) * | 2008-04-30 | 2009-11-05 | Abb Technology Ab | A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot |
FR3002048B1 (fr) * | 2013-02-14 | 2016-07-01 | Commissariat Energie Atomique | Procede de detection amelioree de collision d'un robot avec son environnement, systeme et produit programme d'ordinateur mettant en œuvre le procede |
DE102013013875A1 (de) * | 2013-08-20 | 2015-02-26 | Kuka Laboratories Gmbh | Verfahren zum Steuern eines Roboters |
DE102014223165A1 (de) | 2014-11-13 | 2016-05-19 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Überprüfen und/oder Einmessen eines an einem Roboter befestigten Werkzeugs innerhalb der Roboterzelle |
DE102017010405A1 (de) | 2017-11-09 | 2019-05-09 | Kuka Deutschland Gmbh | Roboterarm und Verfahren zu dessen Justage |
EP3778143A4 (de) * | 2018-08-30 | 2021-07-28 | Hirata Corporation | Verfahren zur kalibrierung einer betriebsvorrichtung, betriebsvorrichtungssystem und steuervorrichtung |
-
2020
- 2020-03-23 DE DE102020203671.3A patent/DE102020203671B4/de active Active
-
2021
- 2021-03-11 WO PCT/EP2021/056185 patent/WO2021190947A1/de unknown
- 2021-03-11 EP EP21712111.0A patent/EP4126475A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
DE102020203671A1 (de) | 2021-09-23 |
DE102020203671B4 (de) | 2024-06-13 |
WO2021190947A1 (de) | 2021-09-30 |
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