EP4334090A1 - Procédé et système de commande d'un robot télérobotique - Google Patents

Procédé et système de commande d'un robot télérobotique

Info

Publication number
EP4334090A1
EP4334090A1 EP22725198.0A EP22725198A EP4334090A1 EP 4334090 A1 EP4334090 A1 EP 4334090A1 EP 22725198 A EP22725198 A EP 22725198A EP 4334090 A1 EP4334090 A1 EP 4334090A1
Authority
EP
European Patent Office
Prior art keywords
contact
robot
fixed reference
force
actuating means
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
Application number
EP22725198.0A
Other languages
German (de)
English (en)
Inventor
Juan David Munoz Osorio
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP4334090A1 publication Critical patent/EP4334090A1/fr
Pending legal-status Critical Current

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
    • B25J9/1689—Teleoperation
    • 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
    • G05B2219/40144—Force sensation feedback from slave
    • 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
    • G05B2219/40194—Force reflective, impedance shaping tele operation

Definitions

  • the present invention relates to a method and a system for controlling a telerobot using an input device that has a movable actuating means, and a computer program or computer program product for carrying out the method. It is known from in-house practice to control a tele-robot using an input device which has a movable actuating means. Target pose changes of a robot-fixed reference of the telerobot, e.g the operator experiences a direct haptic (force) feedback on the actuating means.
  • the object of the present invention is to improve the control of a tele-robot by actuating an actuating means of an input device. This object is achieved by a method having the features of claim 1.
  • a method for controlling a telerobot using an input device that has a movable actuating means, which preferably repeats several times, in one embodiment cyclically has the following steps: commanding a target pose of a robot-fixed reference of the telerobot Based on a detected position of the actuating means, which in one embodiment is caused manually by an operator; and - K commanding a target force of the actuating means, in particular on the actuating means.
  • the telerobot can advantageously be controlled more precisely in one embodiment, by commanding target forces in one embodiment an advantageous, particularly reliable, ergonomic and/or (more) intuitive operation of the actuating means is realized and a teleoperation is thus simplified in one embodiment and/or its reliability is improved.
  • the telerobot has a ((tele)robot) arm with at least three, in particular at least six, in one embodiment at least seven, joints or axes of movement.
  • the robot-fixed reference is stationary with respect to a distal end flange of the telerobot (arm), in one embodiment the robot-fixed reference has an end effector or TCP of the telerobot (arm), can in particular be an end effector or TCP of the telerobot (arm). be.
  • the actuating means is spatially spaced apart from the telerobot and/or a (robot) controller of the telerobot.
  • the input device in particular an input device controller, is signal-connected to the telerobot and/or a (robot) controller of the telerobot, wired in one embodiment, which can increase safety in one embodiment, wireless in another embodiment, which in one embodiment which can increase flexibility and/or reach.
  • the adjusting means is movably mounted, in particular via one or more joints, on a base of the input device, with a pose of the adjusting means relative to the base of the input device being detected in one embodiment, preferably by sensors, as a position of the adjusting means.
  • a pose within the meaning of the present invention has a one-, two- or three-dimensional position and/or a one-, two- or three-dimensional orientation.
  • a position of the actuating means is a pose of the actuating means, in particular relative to a base of the input device.
  • a force within the meaning of the present invention can also have, in particular be, an oppositely parallel force couple or torque. Controlling within the meaning of the present invention can also be regulating.
  • drives of the telerobot adjust its axes or joints in order to approach the commanded target pose(s), with corresponding target joint adjustments being determined in one embodiment in a manner known per se using inverse kinematics, possibly under Redundancy resolution in a manner known per se.
  • drives of the input device actuate the actuating means in order to exert the commanded setpoint force, in particular via the actuating means on an operator manually actuating the actuating means.
  • a contact mode of operation is performed, in particular switched to a contact mode of operation if contact of the robot fixed reference with an obstacle in a contact direction is detected, and a non-contact mode of operation performed after this contact is no longer detected and/or before this contact is detected, switched to a non-contact operating mode in one embodiment if contact of the robot-fixed reference with an obstacle in a contact direction is no longer detected.
  • the target force in the contact operating mode, has a contact force component of a virtual spring, in particular a positive or pressure contact force component of a virtual (pressure) spring, which causes the robot-fixed reference to come into contact with an obstacle, in one embodiment simulating (rigid body) contact of a rigid robot-fixed reference with a rigid obstacle, in one embodiment simulating a force in a direction opposite to the direction of contact at the robot-fixed reference, this contact force component being absent in the non-contact mode of operation.
  • a contact force component of a virtual spring in particular a positive or pressure contact force component of a virtual (pressure) spring, which causes the robot-fixed reference to come into contact with an obstacle, in one embodiment simulating (rigid body) contact of a rigid robot-fixed reference with a rigid obstacle, in one embodiment simulating a force in a direction opposite to the direction of contact at the robot-fixed reference, this contact force component being absent in the non-contact mode of operation.
  • this can result in an undesirable impact effect as a result of a Contact reduced, preferably avoided: in such a force feedback causes a (high) external force determined by sensors on the robot-fixed reference with a certain delay a corresponding (high) e force on the actuating means, which in turn causes a corresponding movement of the actuating means, which in turn causes a corresponding (bouncing) movement of the robot-fixed reference with a certain delay.
  • damage to the telerobot and/or an obstacle contacted by it can be reduced, preferably avoided, by the invention compared to force feedback: with such force feedback, for example, a flexible end effector or a soft obstacle can be bent before the operator feels a correspondingly high force on the actuator or reacts to it.
  • an obstacle can also be a surrounding element that has been contacted intentionally or intentionally, for example a workpiece or the like.
  • the (virtual) stiffness of the virtual spring depends on the size of the sensor-determined external force at the robot-fixed reference to the actuating means, in one embodiment on the size of the sensor-determined external force in or according to the contact direction, in one Execution such that the rigidity increases with increasing external force, in particular with increasing external force in or according to the contact direction.
  • a (magnitude of) the force corresponding to the contact direction is a (magnitude of a) component of the force which seeks to bring about a movement of the robot-fixed reference in the contact direction or corresponds to such a movement direction.
  • an advantageous(er), in particular more reliable, more ergonomic and/or intuitive operation can be implemented, and teleoperation can thus be simplified in one embodiment and/or its reliability improved.
  • commanding a movement of the robot-fixed reference in the contact direction is reduced compared to commanding a movement of the robot-fixed reference in the same direction in the non-contact operating mode, suppressed in a further development, in one embodiment despite or even with a position or movement of the adjusting means to bring about a corresponding movement of the robot-fixed reference.
  • damage to the telerobot and/or to an obstacle contacted by it can be (further) reduced, preferably avoided.
  • commanding movement of the robot fixed reference in a direction perpendicular to the contact direction is the same in the contact mode of operation and in the non-contact mode of operation. Additionally or alternatively, in one implementation, commanding movement of the robot fixed reference in a direction opposite to the contact direction is the same in the contact mode of operation and in the non-contact mode of operation.
  • handling of the telerobot can be improved, in particular the operator of the input device or the actuating means can react advantageously upon contact, in particular advantageously control the telerobot making contact.
  • the virtual spring does not cause a contact force component that corresponds to a force on the robot-fixed reference in the direction of the contact direction and/or perpendicular to it, or the virtual spring causes only a pressure contact force component that corresponds to a force on the robot-fixed reference in a Direction opposite to the contact direction corresponds.
  • the operation can be improved, in particular carried out (more) reliably and/or more intuitively.
  • contact of the robot-fixed reference with an obstacle in the contact direction is detected if an external force on the robot-fixed reference, in particular in terms of amount, exceeds a predetermined limit value that can be set in one embodiment by an operator of the input device and a limit value according to actuation of the actuating means desired target direction of movement of the robot-fixed reference has a (positive) component opposite (directed) to a direction of this external force or the actuation of the actuating means causes a movement of the robot-fixed reference (also) in the direction against this external force if the external force does not exceed the limit.
  • the robot-fixed reference has a portion that corresponds to a possibly normalized difference between a target pose of the robot-fixed reference desired according to actuation of the actuating means and the current pose of the robot-fixed reference, can in particular consist of this portion.
  • the target pose of the robot-fixed reference desired according to actuation of the actuating means has a proportion that corresponds to a preceding or previous pose of the robot-fixed reference plus an adjustment of the actuating means, scaled in one embodiment, or a difference between a current and a corresponds to the previous or previous position or pose of the adjusting means can consist in particular of this proportion.
  • the influence of disturbances when determining the external force in particular noise, measurement inaccuracies and the like, can be reduced.
  • the limit value is set based on a detection accuracy of the external force. Additionally or alternatively, in one embodiment, an undesired switchover to the contact operating mode can thereby be avoided or switched to the contact operating mode only in suitable situations or constellations.
  • the contact direction is determined on the basis of the external force at the robot-fixed reference, in a further development such that the contact direction is opposite to a direction of this force.
  • the contact direction can be advantageously determined, in particular precisely, reliably and/or without additional sensors.
  • a particularly advantageous contact force component (direction) can be realized and the operation of the telerobot by an operator can thereby be improved, in particular its precision and/or safety.
  • the external force on the robot-fixed reference is determined using at least one distal or end-effector-side force sensor of the telerobot and/or, preferably with model support, on the basis of joint forces of the telerobot.
  • the contact force component of the virtual spring depends on a current position or pose of the actuating means, and is determined in particular on the basis of a current position or pose of the actuating means. Additionally or alternatively, the contact force component of the virtual spring in one embodiment (also) depends on a previous or initial position or previous or initial pose of the actuating means, is determined in particular on the basis of a previous or initial position or previous or initial pose of the actuating means.
  • the contact force component of the virtual spring in one embodiment depends on a current pose of the robot-fixed reference, is determined in particular on the basis of a current pose of the robot-fixed reference. Additionally or alternatively, the contact force component of the virtual spring in one embodiment (also) depends on a previous or initial pose of the robot-fixed reference, is determined in particular on the basis of a previous or initial pose of the robot-fixed reference. Additionally or alternatively, the contact force component of the virtual spring depends in one embodiment (also) on a predetermined spring stiffness of the virtual spring that can be adjusted in one embodiment by an operator of the input device, is in particular based on a predetermined one that is adjustable in one embodiment by an operator of the input device adjustable spring stiffness of the virtual spring is determined.
  • the contact force component of the virtual spring in one embodiment (also) depends on a predetermined scaling between adjustments of the actuating means and movements of the robot-fixed reference that can be set in one embodiment by an operator of the input device determined on the basis of a predetermined scaling between adjustments of the actuating means and movements of the robot-fixed reference, which in one embodiment can be set by an operator of the input device.
  • a particularly advantageous spring characteristic of the virtual spring or contact force component or of the simulated contact can be implemented, thereby simplifying teleoperation and/or improving its reliability in one embodiment.
  • the target force in the contact operating mode and/or in the non-contact operating mode has a damping component which, in an embodiment in contact operating mode and non-contact operating mode in the same way, depends on an adjustment speed of the actuating means, which in one embodiment is directed in the opposite direction is.
  • handling of the actuating means can be improved and, as a result, in one embodiment, the precision of the teleoperation can be improved.
  • an external force at the robot-fixed reference which is determined by sensors in one embodiment, is not transmitted to or on the actuating means.
  • an external force determined by sensors at the robot-fixed reference can be a force that is determined using at least one distal or end effector-side force sensor of the telerobot and/or a force that is determined, preferably model-supported, on the basis of joint forces of the telerobot. include.
  • an external force f e is determined at the robot-fixed reference.
  • (5) determined with the current pose X c,r of the robot fixed reference and transformed into the coordinate system F aligned with the contact direction: F u x ( 0 R F ) T .
  • contact of the robot-fixed reference with an obstacle in the contact direction is detected if the magnitude of the external force on the robot-fixed reference exceeds a predetermined limit value G and the target direction of movement of the robot-fixed reference is one to a direction of this external force opposite (positive) component:
  • > G and F u x [3] > 0 > contact (7) where the index *[3] denotes the z-component of the corresponding vector.
  • the target pose X d,r determined in particular according to (4) and the current pose of the robot-fixed reference are first transformed into the coordinate system F, which is aligned with the contact direction (equations (8.1), (8.2) ), the z component of the transformed target pose FX d,r is fixed to the current pose by assigning or overwriting the z component to the z component of the transformed current pose (equation (8.3)), and this changed transformed target pose X d,r, cont transformed back (equation (8.3)) and commanded to the controller or drives of the telerobot instead of the non-contact operating mode target pose according to equation (4).
  • a virtual spring force is first determined which only has a positive or pressure contact force component in the direction opposite to the contact direction (equations (9.1)-(9.3), (10)), and transforms them back (equation (9.4)), the non-contact mode target force f d,HD is added according to (1)
  • a system in particular hardware and/or software, in particular programming, is set up to carry out a method described here and/or has: ⁇ Means for commanding a target pose of a robot-fixed reference of the telerobot on the basis of a detected position of the actuating means; ⁇ means for commanding a target force of the actuating means; and ⁇ means for performing a contact mode of operation if contact of the robot fixed reference with an obstacle in a direction of contact is detected, and a non-contact mode of operation after such contact is no longer detected and/or before such contact is detected, wherein in the contact mode of operation the Target force has a contact force component of a
  • the system or its means comprises: means for reducing, in particular suppressing, commanding a movement of the robot-fixed reference in the contact direction in the contact mode of operation versus commanding a movement of the robot-fixed reference in the same direction in the non-contact mode of operation ; and/or means for detecting contact of the robot-fixed reference with an obstacle in the direction of contact if an external force on the robot-fixed reference exceeds a predetermined limit value and in accordance with actuation of the actuating means desired desired direction of movement of the robot-fixed reference has an opposite component to a direction of this external force; and/or means for determining the contact direction on the basis of the external force on the robot-fixed reference, in particular such that the contact direction is opposite to a direction of this force.
  • a system and/or a means within the meaning of the present invention can be designed in terms of hardware and/or software, in particular at least one, in particular digital, processing unit, in particular microprocessor unit ( CPU), graphics card (GPU) or the like, and / or have 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 detect 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, be a, in particular, computer-readable and/or non-volatile storage medium for storing a program or instructions or with a program or with instructions stored thereon.
  • execution of this program or these instructions by a system or controller causes the system or controller, in particular the computer or computers, to perform a method described here or one or more of its steps, or the program or the instructions are set up to do so.
  • one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system or its means.
  • the system has the telerobot and/or its robot controller and/or the input device.
  • a contact within the meaning of the present invention is understood to mean, in particular in a manner known per se, a one-sided contact or the touching of two surfaces.
  • the target pose in a further development the commanding and/or moving to the target pose, is implemented with the aid of position, speed or force regulation in the joint space or space of the joint coordinates of the telerobot.
  • the telerobot can be operated advantageously, in particular more precisely, more easily and/or more reliably.
  • FIG. 1 a system for controlling a tele-robot using an input device according to an embodiment of the present invention
  • FIG. 2 a method for controlling the tele-robot using the input device according to an embodiment of the present invention.
  • 1, 2 show a system and method according to an embodiment of the present invention for controlling a telerobot (arm) 1 using an input device having a base 2.1, an actuating means 3 movable relative to the base 2.1 and an input device controller 2.2 a robot controller 4, which communicates wirelessly or by wire with the input device controller 2.2.
  • the input device controller 2.2 can be integrated into the base 2.1.
  • a current pose of the actuating means 3 relative to the input device 2.1 and, in one embodiment, using at least one distal or end effector-side force sensor 6 of the telerobot (arm) or model-based on the basis of joint forces of the telerobot (arm), an external Force f e determined by sensors on a robot-fixed reference in the form of an end effector 5.
  • a current position or pose X c,HD of the actuating means and a current pose X c,r of the end effector 5 are determined, with the (current) adjustment speed (dX/dt) c,HD being determined in one embodiment by time differentiation of the current position or Pose X c,HD is determined or, conversely, the current position or pose X c,HD is determined by time integration.
  • a non-contact operating mode target force f d,HD of the actuating means 3 and a non-contact operating mode target pose X d,r of the robot-fixed reference 5 are determined according to equations (1), (4) above.
  • a contact direction u f a contact direction u f , a rotation matrix 0 RF with rotation axis U and rotation angle ⁇ , and a component of a target direction of movement in zu direction opposite to the direction of contact.
  • a step S30 it is determined according to equations (7) above whether there is contact between the robot-fixed reference 5 and an obstacle in the direction of contact.
  • step S50 the non-contact operating mode target pose of the robot-fixed reference 5 and non-contact operating mode determined in step S20 - Setpoint force of the actuating means 3 commands (step S50), so that the contact force component of the virtual spring and the suppression of a movement in the contact direction is omitted.
  • the method then returns to step S10, with the previous current position of the actuating means 3 forming the new previous position of the actuating means 3 and the previous current pose of the end effector 5 forming the new previous pose of the end effector 5.

Abstract

L'invention concerne un procédé de commande d'un robot télérobotique (1) à l'aide d'un dispositif d'entrée qui comporte un actionneur mobile (3), comprenant les étapes suivantes, répétées plusieurs fois, en particulier : commander (S50) une pose cible d'une référence du robot télérobotique, ladite référence étant fixée au robot, sur la base d'une position détectée de l'actionneur ; et commander (S50) une force cible de l'actionneur ; un mode de fonctionnement à contact étant effectué si un contact est établi entre la référence fixée au robot et un obstacle dans une direction de contact, et un mode de fonctionnement sans contact étant effectué après que ledit contact n'est plus déterminé et/ou avant que ledit contact ne soit déterminé. Dans le mode de fonctionnement à contact, la force cible possède une composante de force de contact d'un ressort virtuel, ledit composant de force de contact simulant un contact entre la référence fixée au robot et un obstacle et le composant de force de contact étant omis dans le mode de fonctionnement sans contact.
EP22725198.0A 2021-05-04 2022-04-22 Procédé et système de commande d'un robot télérobotique Pending EP4334090A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021204494.8A DE102021204494A1 (de) 2021-05-04 2021-05-04 Verfahren und System zum Steuern eines Teleroboters
PCT/EP2022/060749 WO2022233607A1 (fr) 2021-05-04 2022-04-22 Procédé et système de commande d'un robot télérobotique

Publications (1)

Publication Number Publication Date
EP4334090A1 true EP4334090A1 (fr) 2024-03-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22725198.0A Pending EP4334090A1 (fr) 2021-05-04 2022-04-22 Procédé et système de commande d'un robot télérobotique

Country Status (5)

Country Link
EP (1) EP4334090A1 (fr)
KR (1) KR20240004895A (fr)
CN (1) CN117642256A (fr)
DE (1) DE102021204494A1 (fr)
WO (1) WO2022233607A1 (fr)

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
US5129044A (en) * 1988-03-01 1992-07-07 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
US7706920B2 (en) 2007-09-19 2010-04-27 Disney Enterprises, Inc. Smooth clipping of data streams
DE102014226239A1 (de) 2014-12-17 2016-06-23 Kuka Roboter Gmbh Verfahren zum sicheren Einkoppeln eines Eingabegerätes
DE102015100694A1 (de) 2015-01-19 2016-07-21 Technische Universität Darmstadt Teleoperationssystem mit intrinsischem haptischen Feedback durch dynamische Kennlinienanpassung für Greifkraft und Endeffektorkoordinaten
US9849595B2 (en) * 2015-02-06 2017-12-26 Abb Schweiz Ag Contact force limiting with haptic feedback for a tele-operated robot
DE102015009048B3 (de) 2015-07-13 2016-08-18 Kuka Roboter Gmbh Steuern eines nachgiebig geregelten Roboters
US20210030498A1 (en) * 2018-02-02 2021-02-04 Covidien Lp Robotic surgical systems with user engagement monitoring
DE102020113409B4 (de) 2019-05-17 2022-03-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Steuern eines Slave-Systems mittels eines Master-Systems
DE102019118260B3 (de) 2019-07-05 2020-08-20 Franka Emika Gmbh Taktile Rückmeldung eines Endeffektors eines Robotermanipulators über verschiedene Orientierungsbereiche

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WO2022233607A1 (fr) 2022-11-10
KR20240004895A (ko) 2024-01-11
DE102021204494A1 (de) 2022-11-10
CN117642256A (zh) 2024-03-01

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