WO2017036520A1 - Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main - Google Patents

Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main Download PDF

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Publication number
WO2017036520A1
WO2017036520A1 PCT/EP2015/070005 EP2015070005W WO2017036520A1 WO 2017036520 A1 WO2017036520 A1 WO 2017036520A1 EP 2015070005 W EP2015070005 W EP 2015070005W WO 2017036520 A1 WO2017036520 A1 WO 2017036520A1
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WO
WIPO (PCT)
Prior art keywords
robot
force
hand
mechanical interaction
data
Prior art date
Application number
PCT/EP2015/070005
Other languages
English (en)
Inventor
Fan Dai
Arne WAHRBURG
Björn MATTHIAS
Hao Ding
Original Assignee
Abb Schweiz 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 Schweiz Ag filed Critical Abb Schweiz Ag
Priority to PCT/EP2015/070005 priority Critical patent/WO2017036520A1/fr
Publication of WO2017036520A1 publication Critical patent/WO2017036520A1/fr

Links

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
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36451—Handheld toollike probe, work instructor, lightweigted, connected to recorder
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36453—Handheld tool like probe
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36489—Position and force

Definitions

  • the invention is related to a robot teaching system and a method for generating a robot program.
  • robots are widely used in industrial production, such as for handling tasks like gripping, but also for welding or painting.
  • Dependent on their respective purposes robots have typically a robot arm with a length in the range of 0,5 to 3,5m which consists of several robot members and which are connected by respective hinged joints to a kinematic chain.
  • a robot arm typically comprises five to seven joints, so that in total five to seven degrees of freedom in movement are gained.
  • a mechanical interaction tool is mounted at the tip of the robot arm to mechanically go into contact with a workpiece to be treated or gripped.
  • a mechanical interaction tool might be a gripper or a welding gun for example.
  • a robot with at least six degrees of freedom in movement has the ability to reach all coordinates within its working range in each desired orientation with the tip of its arm.
  • three degrees of freedom in movement are required to reach any x, y, z coordinate, whereas the other three degrees of freedom in movement are required to gain any orientation around the coordinate.
  • Such flexibility is required for example for complex robot tasks like gripping a workpiece or welding or the like.
  • six degrees of freedom in movement are of also advantage for tasks with no direct mechanical contact to the workpiece to be treated such as robotic paint spraying.
  • the robot joints are driven by dedicated motors which usually are controlled by a common robot controller.
  • a typical robot controller comprises a computing unit and several amplifiers for the electric supply of the motors with a respective suitable variable voltage signal.
  • the robot controller is foreseen to execute a respective robot program on its computing unit.
  • a robot program usually comprises data about the desired movement path of the tip of the robot arm respectively of a reference point in a fixed relation thereto, which is a so-called tool center point (TCP).
  • TCP tool center point
  • Based on the robot program executed by the computing unit the motors of the respective robot joints are controlled in that way, that the tip of the robot arm respectively the TCP is moving along the desired movement path. Normally a desired movement path is described within the robot program by subsequent coordinates along its extension.
  • a coordinate might include - besides values for desired x, y, z position - a desired orientation of the tip of the robot arm respectively the TCP, so that - dependent on the coordinate system used - three values per coordinate are required to define the coordinate as such within the three dimen- sional x, y, z coordinate system and further three values per coordinate are required to define the orientation.
  • the robot controller interpolates the movement path in between the subsequent coordinates provided within the robot program. In order to get the coordinates within the robot program aligned with the coordinate system of the real robot, both, the coordinates in the robot program and the coordinate system of the robot itself, have to be aligned to the same reference coordinate system.
  • a robot movement program might additionally include some reference values for a force on a workpiece to be treated which has to be applied through the mechanical interaction tool. This might be for example a gripping force which is applied through the gripper fingers of a gripper on a gripped object in between them. But also a mechanical force which is applied by use of a tip-like mechanical interaction tool mounted on the tip of a robot arm on a workpiece in order to move it to another location might be subject to be defined in a robot program.
  • the observance of such a force during execution of the robot program might be enabled as well by use of force sensors implemented in the mechanical interaction tool as by an indirect calculation of a force by use of the electrical currents of the motors of the robot joints for example. In case that the given maximum force is reached the respective motors are controlled in that way that the prescribed maximum force is not exceeded.
  • defining a value for a force to be applied through a robot or a gripper is a very intuitive task, so that it is rather difficult to define an exact and adequate value for such a force.
  • the height of a suitable gripping force for example strongly depends on the size, type and surface of the object to be gripped.
  • Objective of the invention is to provide a device and a method that facilitate the teaching of values for respective forces, which have to be applied through a robot or a robot gripper on a workpiece to be treated.
  • a mechanical interaction tool mounted on the hand-held base body, o at least one force sensor for measuring a force applied in particular through the mechanical interaction tool,
  • the hand-held teaching device is foreseen to provide data to its communication interface which are describing the force measured by the at least one force sensor and wherein the computing device, in particular the robot controller, is foreseen to receive and store those data.
  • Basic idea of the invention is to use a hand-held teaching device for intuitively and manually applying a force through the mechanical interaction tool, automatically measure this force and transferring a respective determined data value describing this force into a robot program as a force reference value.
  • a gripper respectively a further interaction tool mounted thereon is foreseen to automatically apply a force on a workpiece or an ob- ject to be gripped, which is corresponding exactly to the afore mentioned manually applied force.
  • the taught force is associated with a position and an orientation of the further interaction tool.
  • the manually applied force is measured by a respective force sensor and a respective data value describing the strength of the force is transmitted to the computing device by use of the communication interface.
  • a CAD software program product can be installed, so that the implementation of the data values describing the manually applied force easily can become implemented in a robot program.
  • a robot program is generated by use of a simple text editor, so that in the easiest case a data value describing the force can manually become implemented into a robot program by use of a clipboard respectively copy paste functionality.
  • the hand-held teaching device further comprises a user interface for manual interaction to initiate providing data to the communication interface, in particular a button.
  • a user interface for manual interaction to initiate providing data to the communication interface, in particular a button.
  • a touch display or the like is a suitable interface.
  • the hand-held teaching device comprises a force-sensing button which is in contact with the at least one force sensor or a further force sensor for measuring a force applied on the force sensing button and wherein the hand-held teaching device is foreseen to provide data to its communication interface which are describing this force.
  • a force-sensing button which is in contact with the at least one force sensor or a further force sensor for measuring a force applied on the force sensing button and wherein the hand-held teaching device is foreseen to provide data to its communication interface which are describing this force.
  • the hand-held teaching device is foreseen to determine an average force measured by the at least one or the further force sensor during a time span and to provide data to its communication interface which are describing this average force.
  • the mechanical interaction tool comprises a gripper with moveable gripper fingers.
  • Grippers might have two or more gripper fingers which can be opened and closed.
  • a gripper mounted on the arm of a robot might be driven by a motor or another actuator.
  • the gripper comprises a manually usable spring mechanism so that except a manual force no drive or actuator is required for opening and closing the gripper. This enables the intuitive gripping of a workpiece in an advantageous way.
  • the mechanical interaction tool comprises a force sensor for determining an applied force in between the gripper fingers.
  • a force sensor for determining an applied force in between the gripper fingers.
  • the mechanical interaction tool is exchangeable by another mechanical interaction tool.
  • the same hand-held base body can be used for teaching with different manual interaction devices making the hand-held teaching device more flexible therewith.
  • a standardized plug and play interface is foreseen to facilitate exchange.
  • the communication interface is based on a wireless data connection.
  • the problem of the invention is also solved by a method for generating a robot program using a robot teaching system according to the invention, wherein the robot program is foreseen to be executed by a robot controlled by the or by a further computing device, in particular by the or by a further robot controller, wherein the robot has a robot arm with a further mechanical interaction tool mounted thereon, comprising the following steps:
  • the method is repeated for several force values to be applied through the further mechanical interaction tool during future runtime of the robot program.
  • the robot program comprises a movement path for ex- ample along that various handling tasks have to be executed by a robot gripper, it is easily to determine separately for each handling task a suitable pressure force.
  • the robot program comprises data describing a desired movement path of the robot arm. It is also possible to teach posi- tion vectors describing the course of the movement path by use of the robot teaching system according to the invention in the case that it has an integrated position determination device.
  • the robot teaching device can be held at desired locations on a reference workpiece wherein a force might be applied thereon through the me- chanical interaction tool and wherein not only data values describing the applied force but also data values describing the determined position and/or orientation of the hand-held teaching device are provided by the communication interface to the computing unit.
  • the hand held teaching device further comprises means for determining its position and/or orienta- tion wherein the desired movement path of the robot arm is teached by use of the hand held teaching device.
  • force and position are subject to be taught simultaneously.
  • the robot program is generated by use of a software program package running on the or on a further computing device, in particular on the or on a further robot controller.
  • a software program package running on the or on a further computing device, in particular on the or on a further robot controller.
  • suitable tools such as a simple text editor or even complex CAD system software available which are suitable for generating a robot program.
  • the received data are provided in a clipboard of the computing environment or the like, so that they can be easily transferred into the robot program to be generated by use of the clipboard for example.
  • Figure 1 shows an exemplary first robot teaching system
  • Figure 2 shows an exemplary second robot teaching system
  • Figure 3 shows an exemplary hand-held teaching device
  • Figure 4 shows an exemplary third robot teaching system
  • Figure 5 shows an exemplary first robot system
  • Figure 6 shows an exemplary fourth robot teaching system and Figure 7 shows an exemplary second robot system.
  • Figure 1 shows an exemplary first robot teaching system 10.
  • a mechanical interaction tool 14 - in this case an elongated part with a tip - is mounted on a hand-held base body 12.
  • a force sensor 32 is foreseen to determine any force that is applied through the mechanical interaction tool 14 on an external workpiece.
  • the respective measurement data of a respective force are provided to a communication interface 26.
  • a computing unit 30 is foreseen for performing smaller computing tasks such as preprocessing of measurement values for example.
  • the communication interface 26 is foreseen to communicate the respective determined measurement data via a data exchange 28 to an external computing unit that is not depicted in this figure. Providing of data to the communication interface 26 can be initiated by pushing a button 34.
  • FIG. 2 shows an exemplary second robot teaching system 40.
  • a mechanical interaction tool 44 - in this case gripper with gripper fingers 46, 48 - is mounted on a hand-held base body 42.
  • Each gripper finger 46, 48 is provided with a respective force sensor 50, 52, so that a clamping force in between the gripper fingers 46, 48 is determinable therewith.
  • a communication interface 64 is foreseen to communicate the respective determined measurement data via a data exchange 66 to an external computing unit that is not depicted in this figure.
  • a computing unit 68 is foreseen for performing smaller compu- ting tasks such as preprocessing of measurement values.
  • Providing of data to the communication interface 64 can be initiated by a manual action, for example by pushing a button 70, or by detecting the contact with the work piece by galvanic contact, or by detecting a predetermined threshold force to be achieved by the contact with the work piece or other objects, or by other sensory means.
  • Figure 3 shows an exemplary hand-held teaching device 80.
  • a mechanical interaction tool 84 - in this case gripper with gripper fingers 86 - is mounted on a hand-held base body 82.
  • a user interface 90 respectively a button is foreseen to initiate providing measurement data to a communication interface.
  • the gripper fingers 86 can be opened and closed by manually compressing a clamplike user interface 88 for manual interaction. This is a very simple and intuitive method that also provides a simple force feedback to the hand of the user.
  • the hand-held position device 80 can easily be equipped with one or more force sensors.
  • Figure 4 shows an exemplary third robot teaching system 100 with a user 102.
  • a conveyor 1 12 is foreseen to provide workpieces 1 10 to be gripped.
  • the user 102 held in his right hand an exemplary hand-held teaching device 104. He is manually applying a force 106 on a gripped workpiece 108, wherein the force is determined by a force sensor integrated in the hand-held teaching device 104.
  • a communication interface is foreseen for data exchange 1 14 with an external computing device 1 16, so that measurement data of the force in between the gripper fingers can be provided to the external computing device 1 1 6.
  • FIG. 5 shows an exemplary first robot system 130.
  • a conveyor 138 is providing workpieces to be gripped.
  • a robot 140 is controlled by a computing device 142 - in this case a robot controller - and has a further mechanical interaction tool 132 respectively a gripper mounted on the tip of its arm. The gripper applies a force 134 on a gripped workpiece 136.
  • the movements of the robot 140 and of the gripper are controlled according to a movement program running on the computing device 142.
  • the reference values for forces to be applied by the gripper have been teached by use of a hand-held teach- ing device as depicted in figure 4.
  • FIG 6 shows an exemplary fourth robot teaching system 150 with a user 156.
  • the user 156 held in his right hand an exemplary hand-held teaching device 152. He is manually applying a force 154 on a workpiece, wherein the force is determined by a force sensor integrated in the hand-held teaching device 152.
  • a communication interface is foreseen for data exchange with an external computing device 158, so that measurement data of the force in between the gripper fingers can be provided to the external computing device 158.
  • Figure 7 shows an exemplary second robot system 1 60.
  • a robot 166 is controlled by a computing device 1 68 - in this case a robot controller - and has a further mechanical interaction tool 1 62 mounted on the tip of its arm.
  • the mechanical interaction tool 162 applies a force 1 64 on a workpiece.
  • the movements of the robot 1 66 are controlled according to a movement program running on the computing device 1 68.
  • the reference values for forces to be applied by the mechanical interaction tool 162 have been teached by use of a hand-held teaching device as depicted in figure 6.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un système et un procédé d'apprentissage pour robot par l'application d'une force sur un pendant d'apprentissage (outil d'interaction mécanique 14, 44, 84), la force détectée et la position et l'orientation d'un pendant d'apprentissage étant transmises à l'unité de commande de robot (20, 68, 116, 158) pour être stockées. Le pendant d'apprentissage peut comprendre un élément de préhension pourvu d'un doigt (46, 48, 86) actionné par un mécanisme à ressort (88). Le bras de robot est déplacé en fonction de la force appliquée, de la position et de l'orientation du pendant d'apprentissage et un programme de robot est généré en fonction de ces données. Pendant l'exécution ultérieure d'un programme de robot, un élément de préhension de robot est prévu pour appliquer automatiquement une force sur une pièce à usiner ou sur un objet à saisir, qui correspond exactement à la force manuellement appliquée mentionnée ci-dessus.
PCT/EP2015/070005 2015-09-02 2015-09-02 Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main WO2017036520A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/070005 WO2017036520A1 (fr) 2015-09-02 2015-09-02 Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main

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Application Number Priority Date Filing Date Title
PCT/EP2015/070005 WO2017036520A1 (fr) 2015-09-02 2015-09-02 Système et procédé pour la génération d'un programme de robot avec un dispositif d'apprentissage tenu à la main

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020193352A3 (fr) * 2019-03-28 2020-11-19 Franka Emika Gmbh Apprentissage d'une force de maintien d'un objet dans une pince robotisée
WO2020262168A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Unité d'apprentissage et procédé d'apprentissage
WO2020262170A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Unité d'enseignement et procédé d'enseignement
WO2020262169A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Dispositif d'apprentissage et procédé d'apprentissage
WO2021122580A1 (fr) * 2019-12-17 2021-06-24 Wandelbots GmbH Dispositif portatif pour entraîner au moins un mouvement et au moins une activité d'une machine, système et procédé
CN114466724A (zh) * 2019-10-08 2022-05-10 Fts焊接公司 具有优化控制的协作装置

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US6378404B1 (en) * 1998-07-01 2002-04-30 Big Ventures, L.L.C. Self-adjusting and/or self-locking pliers
US6385508B1 (en) * 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
EP1582955A2 (fr) * 2004-03-31 2005-10-05 Fanuc Ltd Dispositif d'apprentissage pour robot
WO2011039542A1 (fr) * 2009-10-02 2011-04-07 The Welding Insitute Procédé et système de programmation d'un robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6378404B1 (en) * 1998-07-01 2002-04-30 Big Ventures, L.L.C. Self-adjusting and/or self-locking pliers
US6385508B1 (en) * 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
EP1582955A2 (fr) * 2004-03-31 2005-10-05 Fanuc Ltd Dispositif d'apprentissage pour robot
WO2011039542A1 (fr) * 2009-10-02 2011-04-07 The Welding Insitute Procédé et système de programmation d'un robot

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113631330A (zh) * 2019-03-28 2021-11-09 富兰卡爱米卡股份有限公司 示教用于机器人夹持器中的物品的保持力
CN113631330B (zh) * 2019-03-28 2024-02-20 富兰卡爱米卡股份有限公司 示教用于机器人夹持器中的物品的保持力
KR102549433B1 (ko) 2019-03-28 2023-06-28 프랜카 에미카 게엠바하 로봇 그리퍼의 물체에 대한 홀딩력의 교시
WO2020193352A3 (fr) * 2019-03-28 2020-11-19 Franka Emika Gmbh Apprentissage d'une force de maintien d'un objet dans une pince robotisée
JP2022526363A (ja) * 2019-03-28 2022-05-24 フランカ エーミカ ゲーエムベーハー ロボットグリッパにおけるオブジェクトの保持力のティーチイン
KR20220020251A (ko) * 2019-03-28 2022-02-18 프랜카 에미카 게엠바하 로봇 그리퍼의 물체에 대한 홀딩력의 교시
WO2020262169A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Dispositif d'apprentissage et procédé d'apprentissage
JP2021003766A (ja) * 2019-06-26 2021-01-14 アズビル株式会社 教示装置及び教示方法
JP2021003765A (ja) * 2019-06-26 2021-01-14 アズビル株式会社 教示装置及び教示方法
JP2021003767A (ja) * 2019-06-26 2021-01-14 アズビル株式会社 教示装置及び教示方法
JP7193207B2 (ja) 2019-06-26 2022-12-20 アズビル株式会社 教示装置及び教示方法
WO2020262170A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Unité d'enseignement et procédé d'enseignement
WO2020262168A1 (fr) * 2019-06-26 2020-12-30 アズビル株式会社 Unité d'apprentissage et procédé d'apprentissage
CN114466724A (zh) * 2019-10-08 2022-05-10 Fts焊接公司 具有优化控制的协作装置
WO2021122580A1 (fr) * 2019-12-17 2021-06-24 Wandelbots GmbH Dispositif portatif pour entraîner au moins un mouvement et au moins une activité d'une machine, système et procédé

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