TW202224880A - Cooperative robotic arm system and homing method thereof - Google Patents

Abstract

A cooperative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has a first work vector. The second robotic arm has a second work vector. The controller is configured to: (1) control the first robotic arm and the second robotic arm to stop moving; (2) determine whether a first projection vector of the first work vector projected on a first coordinate axis and a second work vector projected on the first coordinate axis overlaps; (3) when they overlap, determine whether a third projection vector of the first work vector projected on a second coordinate axis and a fourth projection vector of the second work vector projected on the second coordinate axis overlap; and , (4). when they do no overlap, control a controlled moving one of the first robotic arm and the second robotic arm to move along a reset path.

Description

Collaborative robotic arm system and its reset method

The present invention relates to a robotic arm system and a resetting method thereof, and in particular, to a cooperative robotic arm system and a resetting method thereof.

There are more and more cases of multi-robot collaboration in production lines. When there is an emergency stop or unexpected movement or deceleration (such as failure, abnormality, etc.) of a robotic arm, at this time, the coordinated robotic arm is likely to fail to respond in time during the reset process. The arm collided. Therefore, how the coordinated (normally functioning) robotic arms prevent collisions during the reset process is a topic worthy of research.

Therefore, the present invention provides a cooperative robotic arm system and a reset method thereof, which can improve the conventional problems.

An embodiment of the present invention provides a method for resetting a cooperative robotic arm system. The reset method includes the following steps. Controlling a first robotic arm and a second robotic arm to stop motion, wherein the first robotic arm has a first working vector and the second robotic arm has a second working vector; judging that the first working vector is projected on a first coordinate axis Whether a first projection vector and a second projection vector of the second work vector are projected on the first coordinate axis, whether a second projection vector overlaps; when the first projection vector and the second projection vector overlap, determine whether the first work vector is projected on a second coordinate axis Whether the third projection vector and the second work vector are projected to a fourth projection vector on the second coordinate axis to overlap; and, when the third projection vector and the fourth projection vector do not overlap, control the relationship between the first robotic arm and the second robotic arm A first controlled mover moves along a first reset path, wherein the first reset path does not pass through a work point of a stopper of one of the first robotic arm and the second robotic arm.

Another embodiment of the present invention provides a collaborative robotic arm system. The collaborative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has a first work vector. The second robotic arm has a second work vector. The controller is used for: controlling a first robotic arm and a second robotic arm to stop moving; judging a first projection vector and a second projection vector of the first work vector projected on a first coordinate axis and a second work vector projected on the first coordinate axis Whether the projection vectors overlap; when the first projection vector and the second projection vector overlap, determine a third projection vector of the first work vector projected on a second coordinate axis and a fourth projection of the second work vector projected on the second coordinate axis whether the vectors overlap; and, when the third projection vector and the fourth projection vector do not overlap, controlling a first controlled mover of the first robotic arm and the second robotic arm to move along a first reset path, wherein the first reset The path does not pass through a work point of a stopper of one of the first robotic arm and the second robotic arm.

In order to have a better understanding of the above-mentioned and other aspects of the present invention, the following specific examples are given and described in detail in conjunction with the accompanying drawings as follows:

Please refer to Figures 1, 2 and 3A~3D. Figure 1 illustrates a schematic diagram of a collaborative robotic arm system 100 according to an embodiment of the present invention, and Figure 2 illustrates a common coordinate system of the collaborative robotic arm system 100 of Figure 1 A schematic diagram of XYZ, FIG. 3A is a schematic diagram of the overlapping of the first projection vector V1 _Y and the second projection vector V2 _Y of the collaborative robotic arm system 100 , and FIG. 3B is a third projection of the collaborative robotic arm system 100 of FIG. 3A A schematic diagram of the vector V1 _X and the fourth projection vector V2 _X , FIG. 3C is a schematic diagram illustrating that the first projection vector V1 Y and the second projection vector V2 Y of the collaborative robotic arm system 100 do not overlap in another embodiment, and the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap. The 3D diagram shows a schematic diagram of the overlapping of the third projection vector V1 _X and the fourth projection vector V2 _X in another embodiment.

An embodiment of the present disclosure provides a cooperative robotic arm system and a reset method thereof. The collaborative robotic arm system includes a plurality of robotic arms and a controller, wherein the controller is used for: (1). Controlling all the robotic arms to stop motion, wherein each robotic arm has a work vector; (2). Determine whether any two of the several projection vectors projected by these work vectors on a coordinate axis overlap each other; (3). When any two of these projection vectors overlap each other, control the robotic arms At least one controlled mover of the robot moves along a reset path, wherein the reset path does not pass through the stoppers of the robotic arms, where the "stopper" is one of the robotic arms, such as a fault or a collider, and " "Controlled movers" are the rest of these robotic arms.

The multiple robotic arms of the collaborative robotic arm system 100 can jointly process (eg, process, handle, grip, etc.) an object.

The collaborative robotic arm system 100 includes a first robotic arm 110 , a second robotic arm 120 and a controller 130 . The controller 130 is used for: (1) controlling the first robotic arm 110 and the second robotic arm 120 to stop moving, wherein the first robotic arm 110 has a first working vector V1 and the second robotic arm 120 has a second working vector V2; (2). Determine whether the first projection vector V1 Y of the first work vector V1 projected on the first coordinate axis (eg, _{Y axis) overlaps with the second projection vector V2 Y of} the second work vector V2 projected on the first coordinate axis; ( 3). When the first projection vector V1 _Y overlaps with the second projection vector V2 _Y (as shown in Figure 3A), determine the third projection vector of the first work vector V1 projected on the second coordinate axis (eg, X axis) Whether V1 _X and the fourth projection vector V2 _X of the second work vector V2 projected on the second coordinate axis overlap; (4). When the third projection vector V1 _X and the fourth projection vector V2 _X do not overlap (for example, as shown in Figure 3B shown), select one of the first robotic arm 110 and the second robotic arm 120 as the controlled mover, and control the controlled mover to move the controlled mover along the first reset path P1, wherein the first reset path P1 does not pass through The working point of the stopper of one of the first robotic arm 110 and the second robotic arm 120 . In this way, through the aforementioned reset method, the collaborative robotic arm system 100 can be reset quickly and ensure that no collision occurs during the reset process.

As shown in FIG. 2 , before obtaining the first projection vector V1 _Y , the second projection vector V2 _Y , the third projection vector V1 _X and the fourth projection vector V2 _X , the controller 130 makes the first work vector V1 and the second projection vector V1 and the second The working vector V2 refers to the same coordinate system, such as the common coordinate system XYZ, so that these projection vectors all refer to the same coordinate system, so that the controller 130 can calculate the reset path more quickly and accurately. The embodiments of the present disclosure do not limit the manner in which the controller 130 calculates or determines the reset path. The aforementioned common coordinate system XYZ includes a first coordinate axis Y, a second coordinate axis X and a third coordinate axis Z which are perpendicular to each other.

The following describes how the common coordinate system X-Y-Z is determined. As shown in Figures 1 and 2, the first work vector V1 is referenced to (or relative to) the first robot arm coordinate system x1-y1-z1, and the second work vector V2 is referenced to (or relative to) the second robot arm coordinate system system x2-y2-z2, wherein the third coordinate axis z1 of the first robot arm coordinate system x1-y1-z1 and the third coordinate axis z2 of the second robot arm coordinate system x2-y2-z2 are substantially parallel and facing the same direction, for example parallel up. The first work vector V1 is a vector from the origin r1 of the first robot arm coordinate system x1-y1-z1 to the work point W1, wherein the work point W1 is, for example, the end point of the first robot arm 110 and the origin of the flange surface , the reference point of the tool head, etc. The second work vector V2 is a vector from the origin r2 of the second robot arm coordinate system x2-y2-z2 to the work point W2, wherein the work point W2 is, for example, the end point of the second robot arm 120 and the origin of the flange surface , the reference point of the tool head, etc.

The controller 130 is further used to: define a common coordinate system X-Y-Z, wherein the common coordinate system X-Y-Z has the following characteristics: (1). The first coordinate axis Y of the common coordinate system X-Y-Z passes through the origin of the first robot arm coordinate system x1-y1-z1 r1 and the origin r2 of the second manipulator coordinate system x2-y2-z2; (2). The third coordinate axis Z of the common coordinate system X-Y-Z, the third coordinate axis z1 of the first manipulator coordinate system and the second manipulator coordinate system The third coordinate axis z2 of x2-y2-z2 is substantially parallel and faces the same direction; and (3). The origin r1 of the first robot arm coordinate system x1-y1-z1 coincides with the origin R of the common coordinate system X-Y-Z.

The embodiments of the present disclosure do not limit the first coordinate axis Y of the common coordinate system X-Y-Z to pass through the origin r1 of the first robot arm coordinate system x1-y1-z1 and the origin r2 of the second robot arm coordinate system x2-y2-z2. In another embodiment, the origin R of the common coordinate system X-Y-Z may also be offset from the origin r1 of the first robot arm coordinate system x1-y1-z1 and the origin r2 of the second robot arm coordinate system x2-y2-z2 , that is, do not coincide.

The controller 130 can use any known coordinate transformation mathematical method to obtain the transformation relationship between the first robot arm coordinate system x1-y1-z1 and the common coordinate system X-Y-Z and the second robot arm coordinate system x2-y2-z2 and the common coordinate system. X-Y-Z conversion relationship. Through these conversion relationships, the controller 130 can convert the first work vector V1 from the coordinates of the first robot arm coordinate system x1-y1-z1 to the reference common coordinate system X-Y-Z, and convert the second work vector V2 from the reference to the first robot arm coordinate system X-Y-Z. The coordinates of the coordinate system x2-y2-z2 of the two robotic arms are converted to the reference common coordinate system X-Y-Z. The controller 130 is, for example, a physical circuit formed by a semiconductor process, such as a semiconductor chip, a semiconductor package, and the like. The controller 130 can receive the signals of all the manipulators, and obtain the current (or latest) position of the manipulator, control the movement of the manipulator, obtain the reset path, and the like according to these signals.

The aforementioned “stopper” is, for example, a faulty person in the first robot arm 110 and the second robot arm 120 . For example, the controller 130 is further used to: (1). Determine whether the first robotic arm 110 or the second robotic arm 120 fails; (2). When the first robotic arm 110 or the second robotic arm 120 fails, The controlled mover is controlled to move along the first reset path P1. The controlled mover can be selected from a robotic arm other than the faulty one.

In another embodiment, for example, several robotic arms have collided or are about to collide, and the controller 130 is further used to: (1). Determine whether the first robotic arm 110 and the second robotic arm 120 have collided or are about to collide Collision occurs; (2). When the first robotic arm 110 and the second robotic arm 120 have collided or are about to collide, select one of the first robotic arm 110 and the second robotic arm 120 as the controlled mover; and , (3). The controlled mover is controlled to move along the first reset path P1. In addition, when the controller 130 detects that any one of the robotic arms is faulty, has collided or is about to collide, it controls all the robotic arms to stop moving to avoid more serious damage to the robotic arms, and then controls the controlled movement The operator moves along the first reset path P1.

As shown in FIG. 3B , when the second robotic arm 120 (not shown in FIG. 3B ) is stopped, the controller 130 controls the first robotic arm 110 (not shown in FIG. 3B ) to follow the first reset path P1 moves, wherein the first reset path P1 is, for example, away from or close to the direction of the second robotic arm 120 . For example, the first reset path P1 is a path parallel to the second coordinate axis (eg, the X axis) and away from the second robotic arm 120 , or a path parallel to the third coordinate axis (eg, the Z axis) and away from the second robotic arm 120 path. However, as long as the first reset path P1 of the first robotic arm 110 does not pass through the working point W2 of the second robotic arm 120, the first reset path P1 may also be parallel to the second coordinate axis (eg, the X axis) or the third coordinate axis. (eg, the Z axis) and approach the path of the second robotic arm 120 . P1 in FIG. 3B shows two arrows in different directions, which respectively express the reset paths in two different directions. Arrows in other figures have the same meaning if they are drawn in the same pattern, so they will not be repeated.

In one embodiment, after the "controlled mover" moves away from the "stopper" along the first coordinate axis, the second coordinate axis or the third coordinate axis, the distance between the "controlled mover" and the "stopper" is The safety distance is increased, so that the "controlled mover" and the "stopper" are in a safer environment, and then the controller 130 controls the "controlled mover" to return to its original position (reset). In detail, before the "controlled mover" returns to its original position, the controller 130 keeps the "controlled mover" and the "stopper" at a safe distance, so that the "controlled mover" returns to its original position. During the initial position, ensure that there is no collision with the "stopper", so that the "controlled mover" can safely return to its original position.

The projection vector types of the first robotic arm 110 and the second robotic arm 120 in other embodiments are described below.

In another embodiment, as shown in FIG. 3C , the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap. The controller 130 is used for: when the first projection vector V1 _Y and the second projection vector V2 _{Y do} not overlap, to control the first robotic arm 110 (not shown in FIG. 3B ) to be aligned with the second robotic arm 120 (not shown in FIG. 3B) for which the controlled mover moves along the first reset path P1. For example, when the second robotic arm 120 is stopped, the controller 130 controls the first robotic arm 110 to move along the first reset path P1, for example, along the -Y axis or the +Z axis, as shown in FIG. 3C Two different arrow directions are shown in P1. However, as long as the first reset path P1 does not pass through the working point W2 of the second robotic arm 120, the first reset path P1 may also move along the +Y axis or the -Z axis.

In another embodiment, as shown in FIG. 3D, the third projection vector V1 _X overlaps the fourth projection vector V2 _X. The controller 130 is used for: when the third projection vector V1 _X and the fourth projection vector V2 _X overlap, control the first robot arm 110 (not shown in the 3D figure) and the second robot arm 120 (not shown in the first 3D image), one of which is a controlled mover, and makes the controlled mover move along the first reset path P1. For example, when the first robotic arm 110 is stopped, the controller 130 controls the second robotic arm 120 to move along the first reset path P1, for example, to move along the -X axis or +Z axis, as shown in the 3D figure Two different arrow directions are shown in P1. However, as long as the first reset path P1 does not pass through the working point W1 of the first robotic arm 110 , the first reset path P1 may also move along the +X axis or the −Z axis.

Please refer to FIGS. 4, 5, and 6A-6E. FIG. 4 is a schematic diagram of a collaborative robotic arm system 200 according to an embodiment of the present invention, and FIG. 5 illustrates a common coordinate system of the collaborative robotic arm system 200 of FIG. 4. A schematic diagram of XYZ, FIG. 6A shows a schematic diagram of overlapping any two of the first projection vector V1 _Y , the second projection vector V2 _Y , and the fifth projection vector V3 _Y of the collaborative robotic arm system 200, and FIG. 6B illustrates the 6A FIG. 6 is a schematic diagram of the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robotic arm system 100 , and FIG. 6C shows the first projection vector V1 Y , the first projection vector V1 _Y , the sixth projection vector V3 X in another embodiment. A schematic diagram of the two projection vectors V2 _Y and the fifth projection vector V3 _Y not overlapping, FIG. 6D is a schematic diagram of the overlapping of the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robotic arm system 200 , and FIG. 6E is a schematic diagram of the overlapping A schematic diagram showing the overlapping of the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robotic arm system 200 .

The collaborative robotic arm system 200 includes a first robotic arm 110 , a second robotic arm 120 , a controller 130 and a third robotic arm 140 . The controller 130 is used for: (1). Controlling the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 to stop moving, wherein the first robotic arm 110 has a first work vector V1 and the second robotic arm 120 has a The second work vector V2, the third manipulator 140 has a third work vector V3; (2). It is determined that the first projection vector V1 _Y , the second projection vector V2 _Y and the third work vector V3 are projected on the fifth position of the first coordinate axis Whether any two of the projection vectors V3 _Y overlap; (3). When any two of the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap (as shown in Figure 6A, in In this example, the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap each other), determine the sixth projection of the third projection vector V1 _X , the fourth projection vector V2 _X and the third working vector V3 projected on the second coordinate axis Whether the vectors V3 _X overlap each other; (4). When the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X do not overlap each other (as shown in Figure 6B, in this example, the third The projection vector V1 _X and the fourth projection vector V2 _X do not overlap), select one of the first robotic arm 110, the second robotic arm 120 and the third robotic arm 140 as the first controlled mover to control the first controlled mover The mover moves along the first reset path P1, wherein the first reset path P1 does not pass through the work point of the stopper among the first robotic arm 110, the second robotic arm 120 and the third robotic arm 140, and the first robotic arm is selected 110. One of the second robotic arm 120 and the third robotic arm 140 serves as the second controlled mover, and controls the second controlled mover to move along the second reset path P2, wherein the second reset path P2 does not pass through the first The working point of the stopper among the robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 . In this way, through the aforementioned reset method, the collaborative robotic arm system 200 can be reset quickly and ensure that no collision occurs during the reset process.

As shown in Fig. 5, after obtaining the first projection vector V1 _Y , the second projection vector V2 _Y , the third projection vector V1 _X , the fourth projection vector V2 _X , the fifth projection vector V3 _Y and the sixth projection vector V3 _X Before, the controller 130 makes the first work vector V1, the second work vector V2 and the third work vector V3 refer to the same coordinate system, such as the common coordinate system XYZ, so that these projection vectors all refer to the same coordinate system, The controller 130 is made to calculate the reset path faster and more accurately. The embodiments of the present disclosure do not limit the manner in which the controller 130 calculates or determines the reset path. The aforementioned common coordinate system XYZ includes a first coordinate axis Y, a second coordinate axis X and a third coordinate axis Z which are perpendicular to each other.

As shown in Figures 4 and 5, the first work vector V1 is referenced to (or relative to) the first robot arm coordinate system x1-y1-z1, and the second work vector V2 is referenced to (or relative to) the second robot arm coordinate system system x2-y2-z2, and the third work vector V3 is referenced to (or relative to) the third manipulator coordinate system x3-y3-z3, wherein the third coordinate axis z1 of the first manipulator coordinate system x1-y1-z1, The third coordinate axis z2 of the second robot arm coordinate system x2-y2-z2 and the third coordinate axis z3 of the third robot arm coordinate system x3-y3-z3 are substantially parallel and face the same direction, eg, parallel upward. The third work vector V3 is a vector from the origin r3 of the third robot arm coordinate system x3-y3-z3 to the work point W3, wherein the work point W3 is, for example, the end point of the third robot arm 140 and the origin of the flange surface , the reference point of the tool head, etc.

In this embodiment, as shown in FIG. 5, the first coordinate axis Y of the common coordinate system X-Y-Z passes through the origin r1 of the first robot arm coordinate system x1-y1-z1 and the second robot arm coordinate system x2-y2-z2 the origin r2. In another embodiment, the first coordinate axis Y of the common coordinate system X-Y-Z may pass through the origin r2 of the second robotic arm coordinate system x2-y2-z2 and the origin r3 of the third robotic arm coordinate system x3-y3-z3. In other embodiments, the first coordinate axis Y of the common coordinate system X-Y-Z may pass through the origin r1 of the first robotic arm coordinate system x1-y1-z1 and the origin r3 of the third robotic arm coordinate system x3-y3-z3. In another embodiment, the origin R of the common coordinate system X-Y-Z may be located at the origin r1 of the first manipulator coordinate system x1-y1-z1, the origin r2 of the second manipulator coordinate system x2-y2-z2, and the first manipulator coordinate system x1-y1-z1. Between the triangular regions formed by the origin r3 of the coordinate system x3-y3-z3 of the three robotic arms, that is, the origin R of the common coordinate system X-Y-Z is staggered from any of the origin r1, the origin r2 and the origin r3, that is not coincident.

As shown in FIG. 6B , when the second robotic arm 120 is the stopper, the controller 130 controls the first robotic arm 110 (the first controlled mover, not shown in FIG. 6B ) to move along the first reset path P1 , for example, move along the -X axis or +Z axis, and control the third robotic arm 140 (the second controlled mover, not shown in FIG. 6B ) to move along the second reset path P2 , for example, along the + X-axis or +Z-axis movement, like the two different arrow directions shown by P1 in Figure 6B, and the two different arrow directions shown by P2. Of course, as long as the first reset path P1 does not pass through the working point W2 of the second work vector V2, the first reset path P1 can also be a path along the +X axis or the -Z axis, and the second reset path P2 can also be Path along the -X or -Z axis. In another embodiment, the third manipulator 140 can be used as the first controlled mover, and the first manipulator 110 can be used as the second controlled mover.

The projection vector types of the first robotic arm 110 , the second robotic arm 120 , and the third robotic arm 140 in other embodiments are described below.

In another embodiment, as shown in FIG. 6C , the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap. The controller 130 is used for: when the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap, select one of the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 One is used as the first controlled mover, controls the first controlled mover to move along the first reset path P1, and selects one of the first robotic arm 110, the second robotic arm 120 and the third robotic arm 140 to do so. For the second controlled mover, the second controlled mover is controlled to move along the second reset path P2. For example, as shown in FIG. 6C, when the second robotic arm 120 is the stopper, the controller 130 controls the first robotic arm 110 to move along the first reset path P1, for example, to move along the -Y axis or the +Z axis, And control the third robotic arm 140 to move along the second reset path P2, for example, move along the -Y axis or the +Z axis, as shown in the two different arrow directions shown by P1 in FIG. 6C, and as shown by P2. Two different arrow directions. Of course, as long as the first reset path P1 does not pass through the working point W2 of the second work vector V2, the first reset path P1 can also be a path along the +Y axis or the -Z axis, and the second reset path P2 can also be Path along the +Y or -Z axis. In another embodiment, the third manipulator 140 can be used as the first controlled mover, and the first manipulator 110 can be used as the second controlled mover.

In another embodiment, as shown in FIG. 6D, the fourth projection vector V2 _X overlaps the sixth projection vector V3x. When the first manipulator 110 (not shown in FIG. 6D ) is stopped, the controller 130 controls the second manipulator 120 (the first controlled mover, not shown in FIG. 6D ) to follow the first reset path P1 moves, for example, along the +X axis or +Z axis, and controls the third robotic arm 140 (the second controlled mover, not shown in FIG. 6D ) to move along the second reset path P2, for example, along the -X-axis or +Z-axis movement. Of course, as long as the first reset path P1 does not pass through the working point W1 of the first work vector V1, the first reset path P1 can also be a path along the -X axis or -Z axis, and the second reset path P2 can also be Path along the +X or -Z axis. In another embodiment, the third robot arm 140 can be used as the first controlled mover, and the second robot arm 120 can be used as the second controlled mover.

In another embodiment, as shown in FIG. 6E , the third projection vector V1 _X , the fourth projection vector V2 _X , and the sixth projection vector V3 _X overlap each other. When the first robotic arm 110 is the stopper, the controller 130 controls the second robotic arm 120 (the first controlled mover, not shown in FIG. 6E ) to move along the first reset path P1 , for example, along the +X axis or +Z axis movement, and control the third robotic arm 140 (the second controlled mover, not shown in FIG. 6E ) to move along the second reset path P2, for example, move along the +X axis or +Z axis . Of course, as long as the first reset path P1 does not pass through the working point W1 of the first work vector V1, the first reset path P1 can also be a path along the -X axis or -Z axis, and the second reset path P2 can also be Path along the -X or -Z axis. In another embodiment, the third robot arm 140 can be used as the first controlled mover, and the second robot arm 120 can be used as the second controlled mover.

Please refer to FIG. 7 , which shows a flowchart of the reset method of the robotic arm system 100 of FIG. 1 .

In step S110, the controller 130 controls the first robotic arm 110 and the second robotic arm 120 to stop moving, wherein the first robotic arm 110 has a first work vector V1 and the second robotic arm 120 has a second work vector V2.

In step S120, the controller 130 determines whether the first projection vector V1 _Y of the first work vector V1 projected on the first coordinate axis and the second projection vector V2 _Y of the second work vector V2 projected on the first coordinate axis overlap, wherein the first The coordinate axis is, for example, one of the axes of the common coordinate system XYZ. When the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap (as shown in FIG. 3C ), the flow proceeds to step S140 . When the first projection vector V1 _Y and the second projection vector V2 _Y overlap (as shown in FIG. 3A ), the flow proceeds to step S130 .

Then, the controller 130 can determine the overlapping state of the first work vector V1 and the second work vector V2 on the second coordinate axis to determine the reset path. Further examples are given below.

In step S130, when the first projection vector V1 _Y and the second projection vector V2 _Y overlap, the controller 130 determines that the first work vector V1 is projected on the second coordinate axis and the third projection vector V1 _X and the second work vector V2 are projected Whether the fourth projection vector V2 _X on the second coordinate axis overlaps. When the third projection vector V1 _X and the fourth projection vector V2 _X do not overlap (as in the 3B and 3D images), the process proceeds to step S140.

In step S140, when the third projection vector V1 _X and the fourth projection vector V2 _X do not overlap, the controller 130 controls the controlled mover of the first robotic arm 110 and the second robotic arm 120 to follow the first reset path P1 moving, wherein the first reset path P1 does not pass through the working point of the stop of the first robot arm 110 and the second robot arm 120 . As long as the first reset path P1 does not pass through the working point of the stopper of the first robotic arm 110 and the second robotic arm 120 , the first reset path P1 can be far away from or close to the stopper.

Please refer to FIG. 8 , which shows a flowchart of the reset method of the collaborative robotic arm system 200 of FIG. 4 .

In step S210, the controller 130 controls the first robotic arm 110, the second robotic arm 120 and the third robotic arm 140 to stop moving, wherein the first robotic arm 110 has a first work vector V1, and the second robotic arm 120 has a second work vector V2, while the third robotic arm 140 has a third work vector V3.

In step S220, the controller 130 determines the first projection vector V1 _Y of the first work vector V1 projected on the first coordinate axis, the second projection vector V2 of the second work vector V2 projected on the second projection vector V2 _Y of the first coordinate axis, and the third work vector V3 Whether the fifth projection vector V3 _Y projected on the first coordinate axis overlaps, wherein the first coordinate axis is, for example, one of the axes of the common coordinate system XYZ. When the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap (as shown in FIG. 6C ), the process proceeds to step S240 . When the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap (as shown in FIG. 6A ), the process proceeds to step S230 .

Then, the controller 130 can determine the overlapping state of the first work vector V1, the second work vector V2 and the third work vector V3 on the second coordinate axis, so as to determine the first and second reset paths. Further examples are given below.

In step S230, when the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap, the controller 130 determines that the first work vector V1 is projected on the third projection vector V1 _X of the second coordinate axis . Whether the fourth projection vector V2 _X of the second work vector V2 projected on the second coordinate axis and the sixth projection vector V3 _X of the third work vector V3 projected on the second coordinate axis overlap. When the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X do not overlap (as shown in Figs. 6B, 6D and 6E), the flow goes to step S240.

In step S240 , when the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X do not overlap, the controller 130 controls the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 One of the first controlled movers moves along the first reset path P1 , wherein the first reset path P1 does not pass through the work point of the stopper among the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 . As long as the first reset path P1 does not pass through the work point of the stopper of the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 , the first reset path P1 can be far away from or close to the stopper.

In step S250, the controller 130 controls the second controlled mover of the first robotic arm 110, the second robotic arm 120, and the third robotic arm 140 to move along the second reset path P2, wherein the second reset path P2 does not pass through the second reset path P2. A working point of the stopper of the robot arm 110 , the second robot arm 120 and the third robot arm 140 . As long as the second reset path P2 does not pass through the work point of the stopper of the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 140 , the second reset path P2 can be far away from or close to the stopper.

The following describes a method for resetting a robotic arm according to another embodiment of the present disclosure.

In one embodiment, as shown in FIG. 6A , taking the second robot arm 120 (not marked in FIG. 6A ) as the “stopper” as an example, the controller 130 uses the first robot arm coordinate system x1-y1-z1 The origin r1 and the origin r2 of the coordinate system x2-y2-z2 of the second robot arm determine the common coordinate system X-Y-Z, because the first work vector V1 of the first robot arm 110 does not overlap with the second work of the second robot arm 120 The vector V2 does not overlap with the third work vector V3 of the third robotic arm 130, so the controller 130 can regard the first robotic arm 110 as the “controlled mover” and determine the reset of the “controlled mover” in the aforementioned manner path, and control the "controlled mover" to reset first. Then, the controller 130 resets the common coordinate system, and determines the common coordinate system X-Y-Z with the origin r2 of the second robot arm coordinate system x2-y2-z2 and the origin r3 of the third robot arm coordinate system x3-y3-z3, and Using the above method, determine the reset path of the "controlled mover", and control the "controlled mover" to reset first.

In another embodiment, when the first work vector V1 of the first manipulator 110 in FIG. 6A overlaps the second work vector V2 of the second manipulator 120 and the third work vector V3 of the third manipulator 130, The controller 130 may judge the relative relationship of the robotic arms from another plane. In detail, as shown in FIG. 9, from the XZ plane, the first work vector V1 of the first robot arm 110 does not overlap with the second work vector V2 of the second robot arm 120, and does not overlap the third robot arm. The third work vector V3 of the arm 130, so the controller 130 can regard the first robotic arm 110 as the "controlled mover", determine the reset path of the "controlled mover" in the aforementioned manner, and control the "controlled mover" ” to reset first. Then, the controller 130 resets the common coordinate system, and determines the common coordinate system X-Y-Z based on the origin r2 of the second robotic arm coordinate system x2-y2-z2 and the origin r3 of the third robotic arm coordinate system x3-y3-z3, using The foregoing method determines the reset path of the "controlled mover" (the third robotic arm 130 ), and controls the "controlled mover" to reset first.

Please refer to FIG. 10 , which is a schematic diagram illustrating the relative relationship between the first robotic arm 110 , the second robotic arm 120 and the third robotic arm 130 according to another embodiment of the present disclosure. Taking the second robot arm 120 (not shown in FIG. 10 ) as the “stopper” as an example, the controller 130 uses the origin r1 of the first robot arm coordinate system x1-y1-z1 and the second robot arm coordinate system x2- The origin r2 of y2-z2 determines the common coordinate system X-Y-Z, since the third work vector V3 of the third manipulator 130 does not overlap the first work vector V1 of the first manipulator 110 (not shown in FIG. 10), and does not overlap. The second work vector V2 of the second robotic arm 120 is overlapped, so the controller 130 can regard the third robotic arm 140 (not shown in FIG. 10 ) as the “controlled mover”, and use the aforementioned method to determine the “controlled movement” The reset path of the "mover", and control the "controlled mover" to reset first. Then, the controller 130 may not reset the common coordinate system, use the first robotic arm 110 as the "controlled mover", determine the reset path of the "controlled mover" in the aforementioned manner, and control the "controlled mover" to move first reset.

In another embodiment, as shown in FIG. 6E , taking the second robot arm 120 (not shown in FIG. 6E ) as the “stopper” as an example, the controller 130 uses the first robot arm coordinate system x1-y1- The origin r1 of z1 and the origin r2 of the second robotic arm coordinate system x2-y2-z2 determine a common coordinate system X-Y-Z. In this embodiment, the controller 130 uses the first robotic arm 110 as the "controlled mover" , using the above method, determine the reset path of the "controlled mover", and control the "controlled mover" to reset first. Then, the controller 130 can reset the common coordinate system, and determine the common coordinate system X-Y-Z with the origin r2 of the second robotic arm coordinate system x2-y2-z2 and the origin r3 of the third robotic arm coordinate system x3-y3-z3, And adopt the aforementioned method to determine the reset path of the "controlled mover" (the third robotic arm 130 ), and control the "controlled mover" to reset first.

Please refer to FIG. 11 , which is a schematic diagram illustrating the relative relationship between the first robotic arm, the second robotic arm, and the third robotic arm according to another embodiment of the present disclosure. Taking the second robot arm 120 (not shown in FIG. 11 ) as the “stopper” as an example, the controller 130 uses the origin r1 of the first robot arm coordinate system x1-y1-z1 and the second robot arm coordinate system x2- The origin r2 of y2-z2 determines the common coordinate system X-Y-Z. If the controller 130 cannot determine the robot arm to reset in the XZ plane, the controller 130 can reset the common coordinate system and use the second robot arm coordinate system x2-y2 instead. - The origin r2 of z2 and the origin r3 of the coordinate system x3-y3-z3 of the third robot arm determine the common coordinate system X-Y-Z, and then use the aforementioned method to determine the robot arm that can be used as a "controlled mover", and control the " Controlled Mover" resets.

To sum up, an embodiment of the present disclosure provides a collaborative robotic arm system and a reset method thereof. The collaborative robotic arm system includes a plurality of robotic arms and a controller, wherein the controller is used for: (1). Controlling all robotic arms to stop motion, wherein each mechanical arm The arm has a work vector; (2). Determine whether any two of these work vectors are projected on a coordinate axis to overlap each other; (3). When any two of these projection vectors overlap each other, control this At least one controlled mover of the robotic arms moves along a reset path, wherein the reset path does not pass through the stoppers of the robotic arms, where the "stopper" is one of the robotic arms, such as a fault or a collider , and the "controlled mover" is the rest or the other of these robotic arms. In another embodiment, the controller is used to: when it is difficult to determine the robot arm that can be used as a "controlled mover" from a plane of the common coordinate system, the controller can change the common coordinate system to the same Another plane judgment of the common coordinate system can be used as the robot arm of the "controlled mover". In another embodiment, the controller is used to reset the common coordinate system after the "controlled mover" is reset, and determine the reset path of the "controlled mover" under the reset common coordinate system. Through the aforementioned method, the collision of the "controlled mover" during the reset process can be prevented.

To sum up, although the present invention has been disclosed by the above embodiments, it is not intended to limit the present invention. Those skilled in the art to which the present invention pertains can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope of the appended patent application.

100, 200: Collaborative robotic arm system 110: First robotic arm 120: Second robotic arm 130: Controller 140: Third robotic arm V1: First work vector V2: Second work vector V3: Third work vector V1 _Y : first projection vector V2 _Y : second projection vector V3 _Y : fifth projection vector V1 _X : third projection vector V2 _X : fourth projection vector V3 _X : sixth projection vector P1: first reset path P2: second Reset path r1, r2, r3, R: origin x1-y1-z1: coordinate system of the first robot arm x2-y2-z2: coordinate system of the second robot arm x3-y3-z3: coordinate system of the third robot arm XYZ: Common coordinate system Y: The first coordinate axis X: The second coordinate axis Z: The third coordinate axis W1, W2, W3: Working point

FIG. 1 is a schematic diagram of a collaborative robotic arm system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a common coordinate system of the collaborative robotic arm system of FIG. 1 . FIG. 3A is a schematic diagram of the overlapping of the first projection vector V1 _Y and the second projection vector V2 _Y of the collaborative robotic arm system. FIG. 3B is a schematic diagram of the third projection vector V1 _X and the fourth projection V2 _X vector of the collaborative robotic arm system of FIG. 3A . FIG. 3C is a schematic diagram illustrating that the first projection vector V1 _Y and the second projection vector V2 _Y of the collaborative robotic arm system do not overlap in another embodiment. FIG. 3D is a schematic diagram illustrating that the third projection vector V1 _X and the fourth projection vector overlap V2 _X in another embodiment. FIG. 4 is a schematic diagram of a collaborative robotic arm system according to an embodiment of the present invention. FIG. 5 is a schematic diagram of a common coordinate system of the collaborative robotic arm system of FIG. 4 . FIG. 6A is a schematic diagram illustrating the overlapping of any two of the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y of the collaborative robotic arm system. FIG. 6B is a schematic diagram of the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the cooperative robotic arm system of FIG. 6A . FIG. 6C is a schematic diagram illustrating that the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap in another embodiment. FIG. 6D is a schematic diagram of the overlapping of the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robotic arm system. FIG. 6E is a schematic diagram of the overlapping of the third projection vector V2 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robotic arm system. FIG. 7 is a flow chart of the reset method of the robotic arm system of FIG. 1 . FIG. 8 is a flow chart of the reset method of the robotic arm system of FIG. 4 . FIG. 9 is a schematic diagram of a robotic arm system according to another embodiment of the present disclosure. FIG. 10 is a schematic diagram illustrating the relative relationship between the first robotic arm, the second robotic arm and the third robotic arm according to another embodiment of the present disclosure. FIG. 11 is a schematic diagram illustrating the relative relationship between the first robotic arm, the second robotic arm, and the third robotic arm according to yet another embodiment of the present disclosure.

100: Collaborative Robotic Arm System

110: The first robotic arm

120: The second robotic arm

130: Controller

V1: The first work vector

V2: Second work vector

r1,r2: origin

x1-y1-z1: coordinate system of the first robot arm

x2-y2-z2: Coordinate system of the second robot arm

W1, W2: working point

Claims (18)

A reset method for a collaborative robotic arm system, comprising: controlling a first robotic arm and a second robotic arm to stop motion, wherein the first robotic arm has a first working vector and the second robotic arm has a second working vector; determining whether a first projection vector of the first work vector projected on a first coordinate axis and a second projection vector of the second work vector projected on the first coordinate axis overlap; When the first projection vector and the second projection vector overlap, determine a third projection vector of the first work vector projected on a second coordinate axis and a fourth projection of the second work vector projected on the second coordinate axis whether the vectors overlap; and When the third projection vector and the fourth projection vector do not overlap, control a first controlled mover of the first robotic arm and the second robotic arm to move along a first reset path, wherein the first reset The path does not pass through a work point where one of the first robotic arm and the second robotic arm stops. The reset method of claim 1, wherein the first reset path is parallel to the second coordinate axis or a third coordinate axis, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis. The reset method of claim 1, wherein the first coordinate axis and the second coordinate axis are perpendicular to each other. The reset method of claim 1, wherein the first coordinate axis and the second coordinate axis are two axes of a common coordinate system. The reset method of claim 4, wherein the first work vector is referenced to a first robot arm coordinate system, and the origin of the first robot arm coordinate system coincides with the origin of the common coordinate system. The reset method as claimed in claim 1, wherein the first work vector refers to a first robot arm coordinate system, and the second work vector refers to a second manipulator arm coordinate system; the reset method is further used for: A common coordinate system is defined, and the first coordinate axis of the common coordinate system passes through the origin of the first robotic arm coordinate system and the origin of the second robotic arm coordinate system. The reset method of claim 1, wherein the first reset path is a path close to or away from the stopper. The reset method as claimed in claim 1 further includes: controlling a third robotic arm to stop moving, wherein the third robotic arm has a third work vector; Determine whether any two of the first projection vector, the second projection vector and the third working vector are projected on the first coordinate axis and a fifth projection vector overlap each other; When any two of the first projection vector, the second projection vector and the fifth projection vector overlap with each other, determine the projection of the third projection vector, the fourth projection vector and the third working vector on the second coordinate axis whether a sixth projection vector overlaps each other; and When the third projection vector, the fourth projection vector and the sixth projection vector do not overlap each other, control the first controlled mover of the first robotic arm, the second robotic arm and the third robotic arm to move along the The first reset path moves, wherein the first reset path does not pass through the working point of the stopper of the first robotic arm, the second robotic arm and the third robotic arm, and controls the first robotic arm, the One of the second controlled mover of the second robotic arm and the third robotic arm moves along a second reset path, wherein the second reset path does not pass through the work point of the stopper. The reset method as claimed in claim 1 further includes: Determining a common coordinate system with two of the first robotic arm, the second robotic arm and a third robotic arm; After controlling the movement of the first controlled mover, the other two of the first robot arm, the second robot arm and the third robot arm are used to determine a reset common coordinate system, and the other two and the other two are used to determine a reset common coordinate system. The two do not exactly repeat; determining a second reset path of the other two second controlled movers under the reset common coordinate system; and The second controlled mover is controlled to move along the second reset path. A collaborative robotic arm system, further comprising: a first robotic arm, having a first work vector; a second robotic arm having a second work vector; and a controller to: controlling a first robotic arm and a second robotic arm to stop moving; determining whether a first projection vector of the first work vector projected on a first coordinate axis and a second projection vector of the second work vector projected on the first coordinate axis overlap; When the first projection vector and the second projection vector overlap, determine a third projection vector of the first work vector projected on a second coordinate axis and a fourth projection of the second work vector projected on the second coordinate axis whether the vectors overlap; and When the third projection vector and the fourth projection vector do not overlap, control a first controlled mover of the first robotic arm and the second robotic arm to move along a first reset path, wherein the first reset The path does not pass through a work point where one of the first robotic arm and the second robotic arm stops. The cooperative robotic arm system of claim 10, wherein the first reset path is parallel to the second coordinate axis or a third coordinate axis, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis. The cooperative robotic arm system of claim 10, wherein the first coordinate axis and the second coordinate axis are perpendicular to each other. The cooperative robotic arm system of claim 10, wherein the first coordinate axis and the second coordinate axis are two axes of a common coordinate system. The cooperative manipulator system of claim 13, wherein the first work vector is referenced to a first manipulator coordinate system, and the origin of the first manipulator coordinate system coincides with the origin of the common coordinate system. The cooperative robot arm system of claim 10, wherein the first work vector is referenced to a first robot arm coordinate system, and the second work vector is referenced to a second robot arm coordinate system; the controller is further configured to: A common coordinate system is defined, and the first coordinate axis of the common coordinate system passes through the origin of the first robotic arm coordinate system and the origin of the second robotic arm coordinate system. The cooperative robotic arm system of claim 10, wherein the first reset path is a path close to or away from the stopper. The collaborative robotic arm system of claim 10, wherein the controller is further configured to: controlling a third robotic arm to stop moving, wherein the third robotic arm has a third work vector; Determine whether any two of the first projection vector, the second projection vector and the third working vector are projected on the first coordinate axis and a fifth projection vector overlap each other; When any two of the first projection vector, the second projection vector and the fifth projection vector overlap with each other, determine the projection of the third projection vector, the fourth projection vector and the third working vector on the second coordinate axis whether a sixth projection vector overlaps each other; and When the third projection vector, the fourth projection vector and the sixth projection vector do not overlap each other, control the first controlled mover of the first robotic arm, the second robotic arm and the third robotic arm to move along the The first reset path moves, wherein the first reset path does not pass through the working point of the stopper of the first robotic arm, the second robotic arm and the third robotic arm, and controls the first robotic arm, the One of the second controlled mover of the second robotic arm and the third robotic arm moves along a second reset path, wherein the second reset path does not pass through the work point of the stopper. The collaborative robotic arm system of claim 10, wherein the controller is further configured to: Determining a common coordinate system with two of the first robotic arm, the second robotic arm and a third robotic arm; After controlling the movement of the first controlled mover, the other two of the first robot arm, the second robot arm and the third robot arm are used to determine a reset common coordinate system, and the other two and the two are not completely repeated; determining a second reset path of the other two second controlled movers under the reset common coordinate system; and The second controlled mover is controlled to move along the second reset path.

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