WO2014005607A1 - Dispositif d'entrée de mouvement de robot - Google Patents

Dispositif d'entrée de mouvement de robot Download PDF

Info

Publication number
WO2014005607A1
WO2014005607A1 PCT/EP2012/002861 EP2012002861W WO2014005607A1 WO 2014005607 A1 WO2014005607 A1 WO 2014005607A1 EP 2012002861 W EP2012002861 W EP 2012002861W WO 2014005607 A1 WO2014005607 A1 WO 2014005607A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
input
module
outputs
freedom
Prior art date
Application number
PCT/EP2012/002861
Other languages
English (en)
Inventor
Björn MATTHIAS
Hao Ding
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/EP2012/002861 priority Critical patent/WO2014005607A1/fr
Publication of WO2014005607A1 publication Critical patent/WO2014005607A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave 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
    • G05B2219/39414—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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39427—Panel on arm, hand of robot, controlled axis
    • 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
    • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
    • 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
    • G05B2219/40367—Redundant manipulator

Definitions

  • the invention relates to a robot-position-input-device for a robot having at least seven degrees of freedom in motion, whereas a device-output with a related output signal is provided for each degree of freedom in movement.
  • a typical robot arm comprises a chain of manipulator segments with a connecting revolute joint in between, wherein each revolute joint represents one degree of freedom in movement.
  • TCP tool center point
  • a tool center point is the reference point for the whole movement of the robot.
  • a tool center point has not necessarily to be related to a physical point on the robot, it can also be a virtual point.
  • Each manipulator segment with related revolute joint is normally driven by a dedicated drive.
  • a robot-position-input- device is required, which might be integrated in a teach pendant, for example.
  • a robot movement program typically comprises a sequence of coordinates with associated orientation. During execution of the program, the robot performs a movement along those coordinates. While generating or refining such a movement program, the robot is manually moved to the coordinates of interest and the coordinate data are adapted. The position and orientation of the robot is fine-tuned by using the robot- position-input-device and afterwards the thus determined coordinates are transferred to the robot or its controller.
  • a robot-position-input-device is a manual interface which allows the operator to manually determine the position or the orientation of the robot arm.
  • devices such as a joystick with typically three degrees of freedom in movement or a 6D mouse with six degrees of freedom in movement are known.
  • an input-device-module for manual tuning of at least two degrees of freedom in movement, wherein a module-output with a related output signal is provided for each degree of freedom in movement, • at least one first-selector-switch for selectively connecting the module-outputs with related device-outputs,
  • each device-output is selectively connectable with one of the module-outputs by applying at least one of the selector-switch settings.
  • the basic idea of the invention consists in providing a light-weight input-device- module for a lower number than the required number of degrees of freedom in movement and further to provide a light-weight selector-switch, which allows the selective connection of the module-outputs to the device-outputs.
  • the operator While generating or fine-tuning a robot program, the operator normally does not use all seven or more degrees of freedom in movement at the same time. Moreover, he typically uses only several groups of degrees of freedom in movement at the same time. Thus, it is possible to combine groups of degrees of freedom which typically are used together. By foreseeing selector-switch such groups are selectively activatable and a light-weight and easily usable robot-position-input-device for a robot with seven or more degrees of freedom in movement is provided.
  • a selector-switch has on the one side a manual switchable component. Additionally, a connection component is provided, which can consist in the easiest case of a set of mechanical driven contacts, but also of some electronic connection components. Several types of selector-switches are thinkable, for example a single switch with different mode positions or some different switches which are interlocked each to each other.
  • the output signals of the module-outputs and the device-outputs might be analog signals, for example a certain voltage level corresponding to a certain position of the associated degree of freedom in movement. But also digital values are suitable kinds of output signals.
  • the robot-position-input-device comprises a transformation device to adapt the signals of the module-outputs to the associated requirements of the device-outputs.
  • a transformation device is for example useful for adapting the signal level of the belonging output signals or convert for example an analog signal into a digital signal.
  • the transformation device comprises the relevant transformation algorithms.
  • the robot-position-input-device comprises a communication interface for providing the signals of the device outputs respectively the belonging values to an external device.
  • a communication interface corresponds typically to common communication standards and is for example designed to have a USB output for further connection. But also a wireless connection is within the scope of the invention.
  • the robot-position-input-device it is foreseen to provide signals at its device-outputs, which correspond either to Cartesian coordinates, that is to say at least x, y, z, Rx, Ry, Rz, 7 th degree of freedom, or to joint coordinates, that is to say at least J1 , J2, J3, J4, J5, J6, J7, or to further coordinate systems such as spherical or cylindrical.
  • Cartesian coordinates that is to say at least x, y, z, Rx, Ry, Rz, 7 th degree of freedom
  • joint coordinates that is to say at least J1 , J2, J3, J4, J5, J6, J7, or to further coordinate systems such as spherical or cylindrical.
  • the robot-position-input-device has exactly seven active device-outputs and is designed for a robot with seven degrees of freedom in movement therewith. Normally, one redundant degree of freedom in movement is sufficient for providing enough configuration variations of the robot arm to reach a certain coordinate in a certain orientation. Thus, those positions of robot which might cause collisions can be avoided by choosing another configuration of the robot arm.
  • the input-device-module has exactly three active module-outputs and the signals of these module-outputs correspond - depending on the current setting of the first-selector-switch - to one of (x, y, z), (Rx, Ry, Rz), 7 th degree of freedom, (J1 , J2, J3), (J4, J5, J6), J7.
  • Those groups of degrees of freedom in movement are typically used together by the operator, thus they are very suitable to be controlled at the same time by the input-device-module without any loss of comfort for the operator.
  • the first-selector-switch covers as well the choice if a Cartesian or a joint coordinate system shall be chosen as well as the choice of which group of degrees of freedom in movement shall be activated. The number of switches is reduced thereby.
  • the robot-position-input-device comprises at least one second separated selector-switch for independently switching between Cartesian and joint coordinate output mode. This enables an easy selection between the available output modes.
  • the input-device- module has exactly three active module-outputs wherein the signals of these module- outputs correspond - depending on the current setting of the first and the second selector-switches - either to one of (x, y, z), (Rx, Ry, Rz), 7 th degree of freedom or to one of (J1 , J2, J3), (J4, J5, J6), J7.
  • the input-device-module In both coordinate systems there is a group for the main coordinate, another group for the orientation and a third group for the 7 th degree of freedom.
  • the 7 th degree of freedom only one of the three degrees of freedom in movement of the input-device-module is used. The other two are either not used or also linked to the 7 th degree of freedom. This is also a variant to combine groups of degrees of freedom in movement which is comfortable for the operator since those groups are typically used together.
  • the input-device-module has exactly two active module-outputs and the signals of those module-outputs correspond - depending on the current setting of the first and the second-selector-switches - either to one of (x, Rx), (y, Ry), (z, Rz), 7 th degree of freedom or to one of (J1 , J2), (J3, J4), (J5, J6), J7.
  • the use of an input-device-module with only two degrees of freedom in movement makes it extremely light-weight and easy to handle.
  • the robot-position-input-device comprises a third selector-switch for enabling. This is useful to prevent an unintended setting or modification of a coordinate or an orientation.
  • the input-device-module is constructed joystick-like.
  • a joystick is a well-known and proven input-device-module for two or three degrees of freedom in movement.
  • the robot-position-input-device comprises means for magnetic attachment.
  • it is easily attachable for example to a robot or to the tip of a robot arm near the TCP point. This enables a very easy and comfortable determination of a coordinate and/or its orientation, since there is an immediate feedback to the manual use of the robot- position-input-device by the movement of the robot itself.
  • the robot-position-input-device is integrated into a teach pendant of a robot. Due to the light-weight structure of such a device, the overall weight of a teach pendant is also reduced therewith in an advantageous way.
  • Figure 1 shows an exemplary first robot-position-input-device in a structural view
  • Figure 2 shows an exemplary second robot-position-input-device
  • Figure 3 shows an exemplary third robot-position-input-device
  • Figure 4 shows an exemplary robot with seven degrees of freedom in movement.
  • Fig. 1 shows an exemplary first robot-position-input-device in a structural view 10.
  • An exemplary input-device-module 12 is provided as a manual interacting device for tun- ing of three degrees of freedom in movement.
  • the associated signals either analog or digital, are provided at the module-outputs 14, 16 and from there to a selector- switch 18.
  • the selector-switch 18 provides four different switch settings 22, 24, 26, 28, which alternatively can be selected, as indicated with the dotted lines 20.
  • the three module outputs 14, 16 are connected group-wise with one of seven device outputs 38, 40, 42. Which group is connected with which device outputs 38, 40, 42 is determined by the relation as indicated with the reference number 30 respectively with the connections 32, 34, 36.
  • Fig. 2 shows an exemplary second robot-position-input-device 50 in a 3D view.
  • a cylindrical base body 52 comprises at its lower end magnetic means 54 for attachment, e.g. a magnet which is suitable to magnetically mount the robot-position-input- device 50 on the arm of a robot, for example.
  • an input device module 68 On the other side of the base body 52 an input device module 68, in this case a three dimensional joystick, is provided for tuning of three degrees of freedom in movement. The three movement directions or degrees of freedom in movement are indicated with the arrows with the reference number 69.
  • the base body 52 further comprises three first-selector-switches 56, 58, 60 which are interlocked each to each other and which determine the relation of the three degrees of freedom in movement to the device outputs, which are not shown in this Figure.
  • Two second-selector-switches 62, 64 are provided to change between an output in Cartesian coordinates or an output in joint coordinates.
  • a third selector-switch 66 is provided for enabling the robot-position-input-device 50.
  • FIG. 3 shows an exemplary third robot-position-input-device 70 in a 3D view.
  • a cylindrical base body 72 comprises at its lower end magnetic means 74 for attachment, e.g., a magnet which is suitable to magnetically mount the robot-position-input-device 70 on the arm of a robot.
  • an input device module 88 on the other side of the base body 72 an input device module 88, in this case a two dimensional joystick, is provided for tuning of two degrees of freedom in movement.
  • the three movement directions or degrees of freedom in movement are indicated with the arrows with the reference number 90.
  • the input device module 88 is able to be pushed in the axial direction as indicated with the arrow 92. In this case a pushing in this direction enables the device 70.
  • the base body 72 further comprises four first-selector-switches 76, 78, 80, 82 which are interlocked each to each other and which determine the relation of the two degrees of freedom in movement to the device outputs, which are not shown in this Figure.
  • Two second-selector-switches 84, 86 are provided to change between an output in Cartesian coordinates or an output in joint coordinates.
  • Fig. 4 shows an exemplary robot 100 with seven degrees of freedom in movement.
  • the robot comprises seven revolute joints J1 , J2, J3, J4, J5, J6, J7 with associated manipulator segments, which are pivotable around the connected joint.
  • Joints J1 , J2, J3 are provided to reach a belonging coordinate and joints J4, J5, J6 are provided for adjusting the orientation of the robot tip or the TCP.
  • Joint J7 is also provided to reach a certain coordinate, thus J7 provides a redundancy in the degrees of freedom in movement of the robot.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un dispositif d'entrée de position de robot (10, 50, 70) destiné à un robot (100) possédant au moins sept degrés de liberté de mouvement, pendant qu'une sortie de dispositif (38, 40, 42) possédant un signal de sortie associé est proposée pour chaque degré de liberté de mouvement. L'invention comprend en outre un module de dispositif d'entrée (12, 68, 88) pour l'ajustement manuel d'au moins deux degrés de liberté de mouvement (69, 90), une sortie de module (14, 16) possédant un signal de sortie associé étant fourni pour chaque degré de liberté de mouvement (69, 90) et au moins un premier commutateur de sélecteur (18, 56, 58, 60, 76, 78, 80, 82) permettant de connecter sélectivement les sorties de module (14, 16) avec des sorties de dispositif (38, 40, 42) associées. Chaque sortie de dispositif (38, 40, 42) peut être connectée de façon sélective à l'une des sorties de module (14, 16) par l'application d'au moins un des paramètres de commutateur de sélecteur (22, 24, 26, 28).
PCT/EP2012/002861 2012-07-06 2012-07-06 Dispositif d'entrée de mouvement de robot WO2014005607A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2012/002861 WO2014005607A1 (fr) 2012-07-06 2012-07-06 Dispositif d'entrée de mouvement de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2012/002861 WO2014005607A1 (fr) 2012-07-06 2012-07-06 Dispositif d'entrée de mouvement de robot

Publications (1)

Publication Number Publication Date
WO2014005607A1 true WO2014005607A1 (fr) 2014-01-09

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109834718A (zh) * 2017-11-28 2019-06-04 发那科株式会社 输入装置和机器人的控制系统
JP2019136854A (ja) * 2018-02-15 2019-08-22 オムロン株式会社 中央制御装置、制御方法およびプログラム
JP2019136855A (ja) * 2018-02-15 2019-08-22 オムロン株式会社 制御システム、スレーブ装置制御部、制御方法およびプログラム
JP2020179502A (ja) * 2017-11-28 2020-11-05 ファナック株式会社 入力装置およびロボットの制御システム
WO2020260556A1 (fr) * 2019-06-26 2020-12-30 Franka Emika Gmbh Procédé pour spécifier une valeur d'entrée sur un manipulateur robotisé

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61151711A (ja) * 1984-12-26 1986-07-10 Hitachi Ltd ロボツトの教示装置
EP0304306A2 (fr) * 1987-08-19 1989-02-22 Hewlett-Packard Company Dispositif de commande
EP1502713A2 (fr) * 2003-08-01 2005-02-02 Kabushiki Kaisha Koyama Robot articulé possédant trois différents modes d'apprentissage
DE102004054867A1 (de) * 2004-11-12 2006-05-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Mit sensorischer Intelligenz ausgestatteter Roboter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61151711A (ja) * 1984-12-26 1986-07-10 Hitachi Ltd ロボツトの教示装置
EP0304306A2 (fr) * 1987-08-19 1989-02-22 Hewlett-Packard Company Dispositif de commande
EP1502713A2 (fr) * 2003-08-01 2005-02-02 Kabushiki Kaisha Koyama Robot articulé possédant trois différents modes d'apprentissage
DE102004054867A1 (de) * 2004-11-12 2006-05-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Mit sensorischer Intelligenz ausgestatteter Roboter

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109834718A (zh) * 2017-11-28 2019-06-04 发那科株式会社 输入装置和机器人的控制系统
JP2019098424A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 入力装置およびロボットの制御システム
JP2020179502A (ja) * 2017-11-28 2020-11-05 ファナック株式会社 入力装置およびロボットの制御システム
US11358287B2 (en) * 2017-11-28 2022-06-14 Fanuc Corporation Input device and robot control system
DE102018129153B4 (de) 2017-11-28 2022-07-28 Fanuc Corporation Eingabeeinrichtung und Robotersteuerungssystem
CN109834718B (zh) * 2017-11-28 2023-04-18 发那科株式会社 输入装置和机器人的控制系统
JP2019136854A (ja) * 2018-02-15 2019-08-22 オムロン株式会社 中央制御装置、制御方法およびプログラム
JP2019136855A (ja) * 2018-02-15 2019-08-22 オムロン株式会社 制御システム、スレーブ装置制御部、制御方法およびプログラム
CN110154064A (zh) * 2018-02-15 2019-08-23 欧姆龙株式会社 中央控制装置、控制方法及存储介质
WO2020260556A1 (fr) * 2019-06-26 2020-12-30 Franka Emika Gmbh Procédé pour spécifier une valeur d'entrée sur un manipulateur robotisé

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