WO2010060475A1 - Robot industriel - Google Patents

Robot industriel Download PDF

Info

Publication number
WO2010060475A1
WO2010060475A1 PCT/EP2008/066240 EP2008066240W WO2010060475A1 WO 2010060475 A1 WO2010060475 A1 WO 2010060475A1 EP 2008066240 W EP2008066240 W EP 2008066240W WO 2010060475 A1 WO2010060475 A1 WO 2010060475A1
Authority
WO
WIPO (PCT)
Prior art keywords
industrial robot
robot assembly
arm
movable arm
moving object
Prior art date
Application number
PCT/EP2008/066240
Other languages
English (en)
Inventor
Soenke Kock
Original Assignee
Abb Research Ltd.
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 Research Ltd. filed Critical Abb Research Ltd.
Priority to PCT/EP2008/066240 priority Critical patent/WO2010060475A1/fr
Publication of WO2010060475A1 publication Critical patent/WO2010060475A1/fr

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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39414—7-DOF
    • 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
    • G05B2219/40362—Elbow high or low, avoid obstacle collision with redundancy control

Definitions

  • the present invention relates to an industrial robot and to a method for controlling an industrial robot. More specifically the present invention relates to a kinematically redundant industrial robot and a method for controlling such an industrial robot.
  • Industrial robots have been used for many decades to perform different production steps.
  • the industrial robot may be designed in dependence of the task to be performed by the industrial robot.
  • An industrial robot comprises a base and a grip member for gripping objects to be handled by the industrial robot.
  • the industrial robot In order to be able to translate an object in 3 dimensions and to rotate the object around 3 axes of rotation, the industrial robot has to have 6 internal degrees of freedom.
  • Such an industrial robot may be provided in a number of different ways and is well known in the art.
  • an industrial robot comprising a jointed arm with a grip member attached to the outer arm by means of a wrist, wherein the wrist provides for rotation of the object around 3 rotational axes and the jointed arm provides for translation of the object in 3 dimensions in a spherical coordinate system.
  • a jointed arm industrial robot a given location and orientation of the tool corresponds to a single discrete set of joint angles and an associated discrete arm configuration.
  • Other tools than a grip member may be attached to the industrial robot, such as, e.g., a weld gun, glue dispenser or a polishing tool.
  • non-removable obstacles are positioned in the workspace of the industrial robot. This makes it impossible for a jointed arm industrial robot having at least 6 internal degrees of freedom to move an object to an arbitrary position without the arm interfering with the obstacle.
  • the object itself may have such a shape that the object itself makes it impossible for the industrial robot to position the object in an arbitrary position and an arbitrary orientation without the object interfering with the arm.
  • An industrial robot with 7 or more internal degrees of freedom can be controlled to move along a pathm but also to exhibit self-motion, which is a combination of movements of at least one joint, which movement does not affect the position of the tool due to self- cancellation.
  • the industrial robot can be smoothly re-configured without interrupting the operation of the industrial robot.
  • the solution with the industrial robot having at least 7 internal degrees of freedom may be applied also to other industrial robots than jointed arm industrial robots.
  • the industrial robot described in the above US patent may avoid static objects. However, in many industries persons or moving objects may move in the vicinity of the industrial robot. There is a risk that the industrial robot may hit the person or moving object. This may be harmful to the person or moving object and may also be harmful to the industrial robot.
  • a basic idea of the present invention is to provide an industrial robot having at least seven internal degrees of freedom with means for sensing persons or objects in the vicinity of the industrial robot and to control the industrial robot in such a way that the distance between any part of the industrial robot and the person or object in the vicinity of the industrial robot.
  • Such an industrial robot is usually called a kinematically redundant industrial robot.
  • an industrial robot assembly comprises at least one movable arm with a tool holder on which a grip member may be attached, which tool holder is arranged in a first end of the arm, and a base part arranged to be attached to a base.
  • the industrial robot assembly has at least seven internal degrees of freedom of motion.
  • the industrial robot assembly is characterized in that the industrial robot assembly comprises sensor means for determining the position of a moving object in relation to the industrial robot assembly.
  • the industrial robot assembly when performing operations, is arranged to adapt the configuration of said at least one movable arm in response to the determined position of the object, when the moving object is within a predetermined first zone surrounding the industrial robot.
  • tool holder is meant a part of the object on which a tool or a grip member may be attached.
  • the tool holder may have the form of a plate or similar and does not have to be especially adapted for holding a tool.
  • the industrial robot assembly may be controlled by a control unit which may be a standard computer programmed to control the industrial robot assembly.
  • the risk of the industrial robot colliding with a moving object is minimized, while the industrial robot may still continue to perform operations.
  • the configuration to which the arm has been reconfigured may be chosen in many different ways.
  • the industrial robot assembly may be arranged to adapt the configuration of said at least one movable arm in order to maximize the smallest distance between the moving object and the at least one movable arm.
  • the movable arm may comprise joints, wherein the industrial robot is arranged to adapt the configuration of said at least one movable arm in order to maximize the distance between at least one of the joints and the moving object.
  • the industrial robot assembly may be arranged to provide a predetermined minimum distance between the object and the arm or one of the joints of the arm.
  • the sensor means may comprise at least one camera which is arranged to monitor the area surrounding the industrial robot assembly.
  • the camera may be of any type known to men skilled in the art.
  • the sensor means may comprise ultrasonic distance sensors.
  • Ultrasonic distance sensor rely on the transmission and detection of ultrasonic pulses to measure the distance to an object.
  • the sensor means may comprise optical distance sensors.
  • the optical distance sensors may be of any type known to men skilled in the art and rely on the transmission and reception of optical pulses to determine the distance from the distance sensor to an object.
  • the ultrasonic distance sensors and/or the optical sensors may be arranged on the movable arm. With such a placement of the sensors the distance between the arm and the moving object is measured directly. This is in contrast to the case when the ultrasonic distance sensor, the optical sensor and/or the camera are arranged on the side of the industrial robot assembly to monitor the area surrounding the industrial robot assembly. In such a case the industrial robot assembly has to compare the detected position of an object with the current configuration of the arm in order to be able to determine whether there is any need for reconfiguration of the arm.
  • the industrial robot assembly may be arranged to determine the shape of the moving object, to add a safety zone around the moving object and to consider the object to be the size of the safety zone.
  • a safety zone By adding a safety zone around the object the risk of the arm hitting the object is further decreased.
  • a safety zone may be arranged around the industrial robot arm. This, will increase the safety distance to the object.
  • the industrial robot assembly may be arranged to stop performing any operations if the movable arm enters the safety zone. When this occurs the industrial robot assembly has already exhausted all possibilities of reconfiguring of the arm to avoid the arm from entering the safety zone.
  • the industrial robot assembly may be arranged to lower the speed of movement of the industrial robot assembly if the moving object enters a predetermined second zone surrounding the industrial robot assembly. When this occurs the industrial robot assembly has already reconfigured the arm to maximize the distance between the object and the arm or a joint of the arm.
  • the industrial robot assembly may be arranged to stop performing any operations if the moving object enters a predetermined third zone surrounding the industrial robot assembly. When this occurs the risk of the arm hitting the object is imminent.
  • the industrial robot assembly may comprise a base to which the base part of the movable arm is attached.
  • the base may be fixed to the floor of an industrial building.
  • the base may be movable. In the latter case the movement of the base adds one internal degree of freedom to the industrial robot assembly.
  • the movable arm may have six internal degrees of freedom of motion.
  • the arm is arranged on a movable base which adds at least one internal degree of freedom.
  • the movable arm may alternatively have at least seven internal degrees of freedom of motion.
  • the arm may be attached to a fixed base.
  • the industrial robot may have two or more arms. Each one of them may be controlled as has been described above.
  • a method of controlling an industrial robot assembly comprises at least one movable arm with a tool holder on which a grip member may be attached.
  • the tool holder is arranged in a first end of the arm.
  • the robot assembly also comprises a base part arranged to be attached to a base.
  • the robot assembly has at least seven internal degrees of freedom of motion.
  • the method is characterized by the steps of when the industrial robot assembly is performing operations determining the position of a moving object in relation to the industrial robot assembly, and adapting the configuration of said at least one movable arm in response to the determined position of the object, when the moving object is within a predetermined first zone surrounding the industrial robot assembly.
  • Fig 1 shows an industrial robot assembly according to an embodiment of the present invention.
  • Fig 2 shows schematically the industrial robot and a moving object.
  • Fig 3 shows schematically the industrial robot assembly with a first zone, a second zone and a third zone surrounding the industrial robot assembly.
  • Fig 1 shows an industrial robot assembly according to an embodiment of the present invention.
  • the industrial robot assembly
  • the 101 comprises a movable arm 102 with a tool holder 103 on which a grip member 104 may be attached, which tool holder is arranged in a first end of the arm 102, and a base part 105 arranged in a second end of the arm.
  • the base part 105 is attached to a base 106.
  • the tool holder 103 is movable in space and in orientation by configuration of the arm 102.
  • the arm has seven internal degrees of freedom of motion. The degrees of motion are provided by the rotations 1 -7 shown in Fig 1.
  • the industrial robot shown in Fig 1 is provided with sensor means for determining the position of a moving object in relation to the industrial robot assembly.
  • the sensor means comprises a camera 107 which is arranged to monitor the area surrounding the industrial robot assembly 101.
  • the sensor means also comprises ultrasonic distance sensors 108 and optical distance sensors 121 which are arranged on the movable arm 102.
  • the distance sensors are ultrasonic distance sensors.
  • the industrial robot is controlled by a control unit in the form of a computer 113.
  • the arm 102 comprises a number of joints 120, of which the elbow 118 is one.
  • the base 106 may be arranged movable along rails 122.
  • Fig 2 shows in a view from above the industrial robot assembly 101 of Fig 1 arranged in a working environment.
  • the industrial robot assembly 101 is arranged to handle objects in a first area 109. Due to the seven internal degrees of freedom of the arm 102 the arm may be configured in different configurations for a given position and orientation of the grip member 104.
  • the dotted line 110 shows the arm 102 in a first position during operation.
  • a camera 107 is arranged to monitor the area surrounding the industrial robot assembly 101.
  • optical distance sensors 108 are arranged on the arm 102. The camera 107 and the optical distance sensors 108 together monitor an area 111 surrounding the industrial robot assembly 101.
  • the computer 1 13 adds a safety zone around the object 112 and considers the object to have the size of the dotted line 1 12 ' . Then the computer 113 controls the arm to reconfigure into a second configuration, shown by the full line 1 14, while continuing handling objects in the first area 109.
  • the second configuration 114 of the arm 102 the distance d from the elbow 118 to the object 112 ' has increased, which decreases the risk of the elbow 118 of the arm 102 hitting the object 112. It is possible to control the arm in other ways. It is for example possible to control the arm so that the minimum distance between the arm 102 and the object 112 is maximized.
  • Fig 3 shows schematically the industrial robot assembly 101 with a first zone 115, a second zone 116 and a third zone 117 surrounding the industrial robot assembly 101. If an object 112 enters the first zone 115 the industrial robot assembly 101 reconfigures the arm EP2008/066240
  • the industrial robot assembly controls the arm to stop moving.
  • the industrial robot assembly may also control the arm 102 in response to the speed, the acceleration, the direction of motion and/or the change of direction of the object 112.
  • the computer 113 may comprise a prediction filter such as a Kalman filter.
  • the distance sensors may also or alternatively comprise optical sensors.
  • the optical sensors have the same function as the ultrasonic sensors described above.
  • the industrial robot assembly in the described embodiments may comprise two or more arms. Each one of the arms is controlled as has been described above.
  • the industrial robot assembly has an arm having six internal degrees of freedom of motion. In that case one additional degree of freedom of motion is provided in another way.
  • the arm may for example be arranged on a movable base.

Landscapes

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

Abstract

L'invention porte sur un ensemble robot industriel (101) et sur un procédé pour commander un tel ensemble robot industriel (101). Le robot industriel comprend au moins un bras mobile (102). Le au moins un bras mobile (102) a au moins sept degrés internes de liberté de mouvement. L'ensemble robot industriel (101) comprend des moyens de détection (107, 108, 121) pour déterminer la position d'un objet en mouvement (112) par rapport à l'ensemble robot industriel (101). L'ensemble robot industriel (101), lorsqu'il réalise des opérations, est conçu pour adapter la configuration dudit au moins un bras mobile (102) en réponse à la position déterminée de l'objet (102), lorsque l'objet en mouvement (112) se trouve à l'intérieur d'une première zone prédéterminée (115) entourant le robot industriel.
PCT/EP2008/066240 2008-11-26 2008-11-26 Robot industriel WO2010060475A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/066240 WO2010060475A1 (fr) 2008-11-26 2008-11-26 Robot industriel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/066240 WO2010060475A1 (fr) 2008-11-26 2008-11-26 Robot industriel

Publications (1)

Publication Number Publication Date
WO2010060475A1 true WO2010060475A1 (fr) 2010-06-03

Family

ID=40937526

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/066240 WO2010060475A1 (fr) 2008-11-26 2008-11-26 Robot industriel

Country Status (1)

Country Link
WO (1) WO2010060475A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012080130A1 (fr) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité
JP2012139762A (ja) * 2010-12-28 2012-07-26 Kawasaki Heavy Ind Ltd ７軸多関節ロボットの制御方法、制御プログラム及びロボット制御装置
CN103252779A (zh) * 2012-02-16 2013-08-21 精工爱普生株式会社 机器人控制装置、机器人控制方法及程序以及机器人系统
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
EP3165618B1 (fr) 2015-11-03 2018-08-01 Befesa Aluminio, S.L. Station pour écrémer, agiter et prélèvement d'échantillon dans un creuset
WO2018145990A1 (fr) * 2017-02-08 2018-08-16 Thyssenkrupp System Engineering Gmbh Dispositif pour sécuriser un manipulateur à commande mécanique et procédé
EP3437804A1 (fr) * 2017-08-02 2019-02-06 ABB Schweiz AG Procédé de commande de robot
JP2020055045A (ja) * 2018-09-28 2020-04-09 学校法人福岡大学 ロボットセンサ

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150026A (en) * 1990-11-19 1992-09-22 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Obstacle avoidance for redundant robots using configuration control
US5155423A (en) * 1986-02-18 1992-10-13 Robotics Research Corporation Industrial robot with servo
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US20030076224A1 (en) * 2001-10-24 2003-04-24 Sick Ag Method of, and apparatus for, controlling a safety-specific function of a machine
US20050131582A1 (en) * 2003-10-01 2005-06-16 Arif Kazi Process and device for determining the position and the orientation of an image reception means
US20080140256A1 (en) * 2006-09-29 2008-06-12 Kabushiki Kaisha Toshiba Robot apparatus and control method therefor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5155423A (en) * 1986-02-18 1992-10-13 Robotics Research Corporation Industrial robot with servo
US5150026A (en) * 1990-11-19 1992-09-22 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Obstacle avoidance for redundant robots using configuration control
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US20030076224A1 (en) * 2001-10-24 2003-04-24 Sick Ag Method of, and apparatus for, controlling a safety-specific function of a machine
US20050131582A1 (en) * 2003-10-01 2005-06-16 Arif Kazi Process and device for determining the position and the orientation of an image reception means
US20080140256A1 (en) * 2006-09-29 2008-06-12 Kabushiki Kaisha Toshiba Robot apparatus and control method therefor

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012080130A1 (fr) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité
US9475200B2 (en) 2010-12-16 2016-10-25 Robert Bosch Gmbh Safety device for a handling apparatus, in particular an industrial robot, and method for operating the safety device
JP2012139762A (ja) * 2010-12-28 2012-07-26 Kawasaki Heavy Ind Ltd ７軸多関節ロボットの制御方法、制御プログラム及びロボット制御装置
US9120223B2 (en) 2010-12-28 2015-09-01 Kawasaki Jukogyo Kabushiki Kaisha Method of controlling seven-axis articulated robot, control program, and robot control device
CN103252779A (zh) * 2012-02-16 2013-08-21 精工爱普生株式会社 机器人控制装置、机器人控制方法及程序以及机器人系统
EP3165618B1 (fr) 2015-11-03 2018-08-01 Befesa Aluminio, S.L. Station pour écrémer, agiter et prélèvement d'échantillon dans un creuset
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
WO2018145990A1 (fr) * 2017-02-08 2018-08-16 Thyssenkrupp System Engineering Gmbh Dispositif pour sécuriser un manipulateur à commande mécanique et procédé
EP3437804A1 (fr) * 2017-08-02 2019-02-06 ABB Schweiz AG Procédé de commande de robot
WO2019025255A1 (fr) * 2017-08-02 2019-02-07 Abb Schweiz Ag Procédé de commande de robot
CN111201115A (zh) * 2017-08-02 2020-05-26 Abb瑞士股份有限公司 机器人控制方法
US11511432B2 (en) 2017-08-02 2022-11-29 Abb Schweiz Ag Robot control method
CN111201115B (zh) * 2017-08-02 2023-04-04 Abb瑞士股份有限公司 机器人控制方法
JP2020055045A (ja) * 2018-09-28 2020-04-09 学校法人福岡大学 ロボットセンサ
JP7153322B2 (ja) 2018-09-28 2022-10-14 学校法人福岡大学 ロボットセンサ

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