WO2010054673A1 - Procédé pour commande de robot - Google Patents

Procédé pour commande de robot Download PDF

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Publication number
WO2010054673A1
WO2010054673A1 PCT/EP2008/009592 EP2008009592W WO2010054673A1 WO 2010054673 A1 WO2010054673 A1 WO 2010054673A1 EP 2008009592 W EP2008009592 W EP 2008009592W WO 2010054673 A1 WO2010054673 A1 WO 2010054673A1
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WO
WIPO (PCT)
Prior art keywords
robot
motion
motion program
program sequence
movement
Prior art date
Application number
PCT/EP2008/009592
Other languages
English (en)
Inventor
Björn MATTHIAS
Roland Krieger
Original Assignee
Abb Technology Ag
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 Abb Technology Ag filed Critical Abb Technology Ag
Priority to PCT/EP2008/009592 priority Critical patent/WO2010054673A1/fr
Publication of WO2010054673A1 publication Critical patent/WO2010054673A1/fr

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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
    • B25J9/1674—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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Definitions

  • the invention relates to a method for the control of a robot while the robot is executing a motion program.
  • industrial robots are used for example in permanently repeated production processes such as the assembly of parts in a series production.
  • Such an industrial robot is normally characterized by a robot arm and five to seven degrees of freedom in movement in total so that normally each position within the working range of the robot can be reached by the end of the robot arm in every orientation in the case of at least six degrees of freedom in movement.
  • the working range of a typical industrial robot amounts to 1 - 4 meters around the associated rotary robot base.
  • other manipulators can be considered as robots.
  • the robot movement is determined by a motion program, comprising typically the data of a given movement path, the associated individual movement speed along the movement path, and also the movement direction.
  • the robot movement is highly accurate and reproducible with a tolerance of for example less than 1 mm along the whole movement path.
  • the motion program is normally stored on a data processing device such as a computer. Additionally, an interface between data processing device and robot is required, comprising for example amplifiers to generate electrical control signals for the motor drives of the axes of the robot. In some cases those functionalities are combined in a single robot controller.
  • Prior art for example DE-102007008238 A1 , describes systems for human-robot collaboration to perform a handling or an assembly task.
  • the advantage of such systems is that the human worker is assisted by a robot doing for example the movement of a heavy part, whereas the human worker or operator fully concentrates on the more complex aspects.
  • the human worker manually guides the robot to the desired position in the desired orientation, without himself lifting the heavy part to be assembled.
  • this invention aims at the increase of the speed of human-robot cooperation tasks while simultaneously respecting the requirements of safety regulations.
  • a first fixed motion program sequence comprising at least data of motion path, motion speed and motion direction, is executed by the robot in autonomous motion state, • subsequently and according to the motion control program, the robot arm is moved into a transfer zone, which is located within the working range of the robot, and the robot is switched into a person-safe waiting motion state,
  • the potential for such an improvement can be derived from identifying which steps in the procedure are most efficiently handled by a robot in autonomous motion state and which are best handled by a human operator working in cooperation with the robot. To release this potential, one must divide the production procedure into different sequences.
  • an autonomous motion state the robot acts independently of direct input from the operator and can operate at high speeds, assuming that no humans are present in the relevant robot working space.
  • the autonomous motion state is referring to autonomous motion by the robot and not referring to the motion of the robot under direct program control from the controller.
  • the robot motion must be limited to a level that is safe for the presence of and manual guiding by a human operator. This can mean, for example, that speed limit on the robot motion must be enforced, for example an upper limit of 250 mm/s. It can also mean that an enabling switch must be pressed by one or by each of the operator's hands for the duration of the entire adaptively influenceable program sequence. Also, it can mean that the robot motion is restricted to a supervised stand-still at zero speed, when the operator is not activating any intended input devices. In special cases, it can mean that the robot speed is limited to very low speeds such as 30 mm/s or less.
  • the cycle time of the overall movement program might be reduced significantly.
  • the major part of the movement program such as gripping a part from a supplying device and moving it close to the other part, do not require human-robot cooperation when executing.
  • the cycle time for performing such a cooperation task is significantly longer than the cycle time of a comparable robot task in autonomous motion state, where the robot moves for example with a maximum speed of more than 1000 mm/s.
  • other safety procedures such as analyzing the common working range of robot and operator and different zones thereof or stopping the program execution until a certain zone becomes released by the leaving operator are increasing the required cycle time.
  • the robot control according to the invention is based on the idea, to surround the essentially required program sequence for human-robot cooperation by program sequences in autonomous motion state, wherein the robot works at higher movement speed and no safety aspects of the operator in a common working range have to be respected.
  • the robot will not start to execute a movement program sequence in autonomous motion state, unless the operator has left the transfer zone.
  • the robot starts executing a motion program sequence, which is basically foreseen to be executed in autonomous motion state, with significantly slower movement speed in a person-safe motion state while the operator is still in the transfer zone, but in this case the operator must already have signalized his intent to change over the control to the robot.
  • the working area can be divided into three parts: a transfer zone for the changeover, a working zone for the human-robot cooperation and a no-go zone for the human operator, which is only intended for robot movements in autonomous motion state.
  • a transfer zone for the changeover a working zone for the human-robot cooperation
  • a no-go zone for the human operator which is only intended for robot movements in autonomous motion state.
  • the transfer-zone may be for example identical with the whole working zone for human-robot cooperation. It is also conceivable that a no-go zone is not provided at all. It is also possible that numerous adjacent or partly overlapping working- and/or transfer zones are provided so that the safety level for the worker increases with decreasing distance between the human worker and the robot.
  • the adaptively influenceable motion program sequence is not executed before generating a release signal, for example by manually pushing a button of a control device.
  • the safety of the system will be further increased by this additional feedback of the operator.
  • the second fixed motion program sequence is not executed before generating a release signal, for example by manually pushing a button of a control device. Also this additional feedback will further increase the safety of the system.
  • the release signal is autonomousally generated based on measurement data of sensors, which are supervising at least the transfer zone or the limits thereof, such as a light barrier, a camera, an acoustical sensor, an infrared sensor and/or ultrasonic sensor.
  • sensors which are supervising at least the transfer zone or the limits thereof, such as a light barrier, a camera, an acoustical sensor, an infrared sensor and/or ultrasonic sensor.
  • a supervision of the transfer zone or other adjacent zones may also be realized based on the measurements of other sensors, such as microphones for detecting for example some spoken commands of the operator, infrared sensors measuring for example the body temperature of the worker or ultrasonic sensors measuring for example a distance between worker and robot.
  • the analysis of the measurement data of the sensors is done on a data processing device such as a computer.
  • the procedure according to the invention is simplified on one side, whereas on the other side the safety of the operator is still at the required high level.
  • the safety of the human operator is furthermore increased when an acoustical and/or optical signal is given after the robot has been switched into the person-safe waiting motion state.
  • the movement speed of the robot is limited to a certain maximum speed while executing the adaptively influenceable motion program sequence.
  • the speed limit does not exceed 250 mm/s, for example 200 mm/s.
  • the robot is switched into an intrinsically safe operation motion state before starting the execution of the adaptively influence- able motion program sequence.
  • an intrinsically safe operation motion state provides once again an increased level of safety for the operator compared to the person-safe wait motion state, since it is physically excluded that the robot can hit the operator in any dangerous way.
  • the robot can be switched back to the normal person-safe motion state after the worker takes over the control of the adaptively influenceable robot program sequence.
  • the robot movement is adaptively influenced at least concerning the movement path, the movement speed or the movement direction while executing the motion program sequence. It is possible as well that the path of the robot movement is fixed and the worker can move the robot only along this so-called virtual rail. It is also conceivable that the robot movement is influenced in all three spatial directions. In this case, the robot waits for example for a force impact on a force sensor and the robot arm becomes autonomously moved in the direction of the force impact.
  • the processed measurement data of at least one sensor provided in the proximity to the robot or mounted on the robot are the basis for the adaptive influence on the motion program sequence.
  • a force sensor as described before
  • an acoustical sensor e.g., a current sensor
  • an optical sensor e.g., a laser sensor
  • Such types of sensors are well-suited for detecting especially the intention of the operator either based on his movements, his voice and/or his posture for example.
  • the temporarily required interpretations for example of the voice and/or the gestures of the operator are preferably done autonomously using a data processing device such a computer.
  • a software using artificial intelligence such as artificial neural networks is advantageous.
  • the motion program sequence is adaptively influenced by the control signals of a separate control device such as a switch, a joystick, a control panel and/or a teaching device.
  • a separate control device such as a switch, a joystick, a control panel and/or a teaching device.
  • the effort for the interpretation of the intention of the operator using the control devices is advantageously low.
  • the motion program comprises the data of at least one gripping movement of a gripper tool attached to the robot. This simplifies the handling of a part.
  • the motion program is stored in a robot controller which is directly related to the robot.
  • a robot controller comprises normally a data processing device as well as electrical amplifiers for the motor drives of the axes of the related robot. Storing the movement program in the already provided data processing device of the robot controller will reduce the hardware effort to practice the method according to the invention.
  • the motion program comprises more than two fixed and more than one adaptively influenceable motion program sequence, whereas in a further embodiment a selection and/or a sequence of several motion program sequences of the motion program may be altered temporarily.
  • Figure 1 shows an example for a hardware embodiment to practice the method according to the present invention
  • Figure 2 shows an example for a movement path of the robot according to the method of the present invention
  • Fig. 1 shows an example 10 for a hardware embodiment to practice the method according to the present invention.
  • a robot 14 is located within a first working booth 22.
  • a gripper tool 18 is mounted, which holds a first work- piece 24.
  • a human operator 12 has entered the booth 22 through the door 47 and impacts a force on a not shown sensor on the robot arm 16 so that he controls the robot movement by this force in a human robot cooperation task.
  • the operator holds a control device 48 connected to the robot controller 34, wherewith he is also able to control the robot movement. This has to be seen preferably as an exemplary alternative to the aforementioned control by force which is normally not used at the same time.
  • the first transfer zone 20 is supervised by a first 36 and a second 38 camera mounted at the upper booth. Also other sensors such as light barriers are suitable for supervision.
  • the data signals of the cameras 36, 38 are transmitted with a first 40 and a second 42 connection line, for example a data transmission cable, to the robot controller 34.
  • the robot controller 34 comprises a data processing device with suitable software for analyzing the picture data of the cameras 36, 38. Result of such an analysis is for example the information, that a person 12 is within the transfer zone 20 or not, it can also comprise the information, that a person 12 will probably enter the transfer zone 20 in a short time such as 0.5 s. Such predicted information can be based for example on the analysis of the movement of a person 12 which is outside the transfer zone 20 but nevertheless within a supervised area.
  • any presence of a human operator 12 in the no-go zone which is defined in the Fig. 1 as the working booth 22 except the transfer zone 20, has to be detected.
  • a third connection line 44 connects the robot controller with the robot 14.
  • the third connection line 44 comprises for example as well the power supply for the drives of the different axes from the robot 14. But also lines for a control signal for example from a force sensor mounted on the robot arm 16 to the robot controller 34 or lines for control signals from the robot controller 34 to the gripper tool 18 are foreseen.
  • the human operator and the end of the robot arm 16 are present within the first transfer zone 20.
  • the first workpiece 24 is foreseen to be assembled with the third workpiece 28 in human-robot cooperation task.
  • the third workpiece 28 is provided on a second transporting device 32, such as a conveyor.
  • a second workpiece 26 which can be of the same type as the first workpiece 24 is provided on a first transporting device 30 at the other end of the booth 22. It is also thinkable that a larger number of such workpieces are provided in a common supply box for example.
  • the human operator 12 can signal the ready-status of the human-robot cooperation task by pushing the switching button 46 of a control device, which is located outside the booth 22.
  • the means for signalling the ready-status of the robot 14 for beginning a program sequence in autonomous motion state can be of visual, acoustic or other suitable means perceivable by the operator 22.
  • Fig. 2 shows an example for a movement path of the robot according to the method of the present invention.
  • the movement path shown is related to the tool center point (TCP) of a not shown robot at the end of its robot arm.
  • TCP tool center point
  • the hardware embodiment shown in Fig. 1 corresponds in principle with the not shown hardware environment of Fig. 2.
  • the working area of the not shown robot is limited by a second booth 78, whereas a second transfer zone is marked with the reference sign 76.
  • the movement path according to the movement program comprises several movement path sequences (62, 64, 66, 68, 70, 72).
  • the movement executed by the robot starts at the first point A 52. It is assumed that the robot has gripped a workpiece.
  • the TCP moves along this path 62.
  • a human operator is not present in the second transfer zone 76, so that the robot moves with full speed according to the first fixed motion program sequence, for example with 1200 mm/s, also when passing into the second transfer zone 76.
  • the robot movement ends at the second point B 54.
  • the robot In the case that a person would be present in the second transfer zone 76, the robot would have either never started the associated movement sequence, or would have executed a stop before passing into the transfer zone, or at least would have slowed down to an absolute person-safe speed of a few mm/s before passing into the second transfer zone 76. If a person is detected in the no-go zone within the second booth 78 and outside the second transfer zone 76, an emergency stop of the robot would be the consequence.
  • the robot is in a safe waiting position at the second point B 54. Waiting position can either mean that the robot does not execute any movement or that the robot executes a very slow and absolute safe movement, for example along a circular path.
  • a human operator enters the second transfer zone 76 and takes over the control of the following adaptively influenceable motion program sequence 64, 66. He impacts for example a force on the end of the robot arm which is detected by appropriate sensors.
  • the signals of the sensors are autonomously analyzed and the drives of the robot controlled in such a way that the robot arm moves in the direction of the applied force.
  • the operator is able to precisely control the movement of the robot arm to the third point C 56.
  • the robot is in a safe motion state so that for example the maximum movement speed does not exceed a certain limit of, for example, 250 mm/s.
  • the fourth point D 58 is not necessarily the same point as the second point B 54, it is rather any point within the transfer zone 76 at which the operator wants to changeover the control of the robot program back to the robot.
  • the TCP of the robot is temporarily moved from the fourth point D 58 to the next determined point, at which the next motion sequence starts.
  • this point is the same as the second point B 54, from where the adaptively influenced robot sequence has started.
  • the belonging movement path 68 is preferably autonomously generated by the robot respectively its control. In the easiest case, it is a linear movement path 68 in between both points D 58 and B 54.
  • the robot movement might not be executed at all or at least in a safe motion state with very limited movement speed, such as a few mm/s. Normal procedure is that the operator has left the transfer zone and the robot executes the fixed program sequence without any restrictions.
  • the robot TCP moves back to the first point A along the path 70, which is in this case identical with path 62, except for the movement direction. Now the robot moves along the path 72 to the fifth point E 60, where for example a new workpiece is retrieved, and moves back to the first point A 52 prepared to execute the whole robot movement program once again.
  • the sum of the fixed movement path 70, 72 and 74 can be assumed as one single motion program sequence, and also the sum of part 1 64 and the part 2 66 of the adaptively influenceable movement sequence can be assumed as one movement program sequence.
  • the most important criterion for beginning a new movement sequence is that either the human operator takes over the control from the robot or gives it back to the robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un procédé pour la commande d'un robot (14) lorsque le robot (14) exécute un programme de mouvement comprenant au moins trois séquences de programme de mouvement (62, 64, 66, 70, 72), le procédé étant caractérisé au moins par les étapes suivantes. Une première séquence de programme de mouvement fixe (62), comprenant au moins des données de trajet de mouvement, de vitesse de mouvement et de direction de mouvement, est exécutée par le robot (14) dans un état de mouvement autonome. Par la suite et conformément au programme de commande de mouvement, le bras de robot (16) est déplacé dans une zone de transfert (20, 76), qui se situe à l'intérieur de la plage de fonctionnement du robot (14), et le robot est commuté dans un état de mouvement d'attente sûr pour les personnes. Un opérateur (12) entre dans la zone de transfert (20, 76). Le robot (14) exécute, avec une coopération sûre humain-robot, une séquence de programme de mouvement influençable de manière adaptative (64, 66), qui est commandée au moins en partie par l'opérateur (12). Le bras de robot (16) est reculé temporairement dans la zone de transfert (20, 76) jusqu'à un point de transfert (58) et l'opérateur (12) quitte la zone de transfert (20, 76) vers une position sûre. Une seconde séquence de programme de mouvement fixe (70) est exécutée par le robot (14) à partir du point de départ (54) dans l'état de mouvement autonome.
PCT/EP2008/009592 2008-11-13 2008-11-13 Procédé pour commande de robot WO2010054673A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/009592 WO2010054673A1 (fr) 2008-11-13 2008-11-13 Procédé pour commande de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/009592 WO2010054673A1 (fr) 2008-11-13 2008-11-13 Procédé pour commande de robot

Publications (1)

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WO2010054673A1 true WO2010054673A1 (fr) 2010-05-20

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2783798A3 (fr) * 2013-03-15 2015-10-21 Kabushiki Kaisha Yaskawa Denki Système de robot et procédé pour commander un tel système
CN106020024A (zh) * 2016-05-23 2016-10-12 广东工业大学 一种机械臂末端运动补偿装置及其补偿方法
CN110962130A (zh) * 2019-12-24 2020-04-07 中国人民解放军海军工程大学 基于目标偏向寻优的启发式rrt机械臂运动规划方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BAERVELDT A-J: "Cooperation between man and robot: interface and safety", ROBOT AND HUMAN COMMUNICATION, 1992. PROCEEDINGS., IEEE INTERNATIONAL WORKSHOP ON TOKYO, JAPAN 1-3 SEPT. 1992, NEW YORK, NY, USA,IEEE, US, 1 September 1992 (1992-09-01), pages 183 - 187, XP010066651, ISBN: 978-0-7803-0753-7 *
HENRICH D ET AL: "Modeling Intuitive behavior for safe human/robot coexistence cooperation", ROBOTICS AND AUTOMATION, 2006. ICRA 2006. PROCEEDINGS 2006 IEEE INTERN ATIONAL CONFERENCE ON ORLANDO, FL, USA MAY 15-19, 2006, PISCATAWAY, NJ, USA,IEEE, 15 May 2006 (2006-05-15), pages 3929 - 3934, XP010921866, ISBN: 978-0-7803-9505-3 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2783798A3 (fr) * 2013-03-15 2015-10-21 Kabushiki Kaisha Yaskawa Denki Système de robot et procédé pour commander un tel système
US9278451B2 (en) 2013-03-15 2016-03-08 Kabushiki Kaisha Yaskawa Denki Robot system and method for controlling robot system
CN106020024A (zh) * 2016-05-23 2016-10-12 广东工业大学 一种机械臂末端运动补偿装置及其补偿方法
CN110962130A (zh) * 2019-12-24 2020-04-07 中国人民解放军海军工程大学 基于目标偏向寻优的启发式rrt机械臂运动规划方法
CN110962130B (zh) * 2019-12-24 2021-05-07 中国人民解放军海军工程大学 基于目标偏向寻优的启发式rrt机械臂运动规划方法

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