WO2017186345A1

WO2017186345A1 - Robot comprising a mobile support and a manipulator

Info

Publication number: WO2017186345A1
Application number: PCT/EP2017/000510
Authority: WO
Inventors: Christian Scheurer; Axel Tillmann; Florian Käufl
Original assignee: Kuka Roboter Gmbh
Priority date: 2016-04-26
Filing date: 2017-04-20
Publication date: 2017-11-02
Also published as: DE102016005029A1; CN109070352A; EP3448631A1

Abstract

Disclosed is a method for controlling a robot comprising a mobile support (20) equipped with a propulsion system (21), a manipulator (10) that is arranged on the support and is equipped with an actuator system (q₁ - q₇), and a controller (30), said method involving the step of controlling (S20) the actuator system and the propulsion system such that a desired movement of a reference point (TCP) fixed in relation to the manipulator is carried out.

Description

description

Robot with mobile carrier and manipulator

The present invention relates to a robot having a mobile carrier and a manipulator arranged on the carrier, and a method for controlling the robot and a computer program product for carrying out the method.

For example, DE 10 2012 208 095 A1 discloses a robot with a mobile carrier and a manipulator arranged thereon in the form of a robot arm.

Typically, the mobile carrier is thereby suitably positioned in advance,

for example, such that a component to be machined by the robot is in the

Working area of the manipulator is located, and then moved at now immobile carrier only the manipulator.

So far, however, the potential of mobile robots is only partially used.

Object of the present invention is the operation, in particular the

Programming to improve a mobile robot.

This object is achieved by a method having the features of claim 1. Claims 16, 17 provide a robot with a controller and

Computer program product for performing a method described herein under protection. The subclaims relate to advantageous developments. According to one embodiment of the present invention, a (mobile) robot has a mobile carrier with a motion drive assembly, a manipulator arranged on the carrier with an actuator assembly and a controller which may be wholly or partially arranged on the carrier in a development.

The mobile carrier has in one embodiment with the

Motion drive assembly coupled chassis, in particular a

Wheels suspension with one or more with the motion drive assembly coupled (drive) wheels and / or one or more non-powered wheels on. In one embodiment, one or more of the (drive and / or

non-driven) wheels omnidirectional wheels, especially so-called Mecanum wheels. Additionally or alternatively, in one embodiment, one or more of the (drive and / or non-drive) wheels are passive or active or pivotable or steerable by steering drives of the motion drive assembly. Likewise, in one embodiment, the mobile carrier may include an air cushion, crawler, or track undercarriage, a walker mechanism having two or more legs, an aircraft propulsion, or the like. In one embodiment, the mobile carrier faces an environment of the robot or carrier, in particular a bottom surface of a robot

Environment of the robot or wearer one, two or three translational

Degrees of freedom and / or one, two or three rotational degrees of freedom in which it is actively moved or can be moved by the motion drive assembly. Thus, it can in particular be rail-bound or guided or freely movable, in particular horizontally freely displaceable horizontally and / or longitudinally and / or rotatable or pivotable about the vertical. Likewise, in one embodiment, the mobile robot may be a humanoid, arachnoid, or similar robot, or its mobile carrier may be two or more legs or a flying robot, or its mobile carrier may comprise an aircraft propulsion, in particular one or more rotating wings, such as a helicopter or drone platform , The

Motion drive assembly has in one embodiment, one or more drives, in particular electric or hydraulic motors on.

In one embodiment, the manipulator has one or more, in particular

at least four, in particular five, in particular exactly or at least six, in particular at least seven, joints or axes or degrees of freedom that can be actuated or moved or adjusted by the actuator arrangement; in particular, it can be a robot arm. In one embodiment, one or more of the joints or axes are hinges or axes and / or one or more of the joints or axes thrust joints or linear axes. In one embodiment, the manipulator has a (opposite to the carrier) distal end flange to which in an embodiment an end effector, in particular a tool, in particular a, in particular mechanical, pneumatic and / or magnetic, gripper, can be fastened, in particular is attached, in particular solvable. The Actuator assembly has in one embodiment, one or more drives, in particular electric or hydraulic motors on.

The controller is in one embodiment, in particular wireless or wired, connected to the motion and / or the actuator assembly and, in particular hardware and / or software, in particular programmatically, set up for carrying out a method described here.

According to an embodiment of the present invention, a method for the

Controlling the robot the step: driving the control and the

Movement drive arrangement for or when executing a target movement of a manipulator-fixed reference or such that a manipulator-fixed reference (within a tolerance or as far as possible) performs a desired movement or

seeks to execute. Accordingly, in one embodiment, the robot,

in particular its control means for controlling the actuating and

Movement drive assembly for or when executing a target movement of a manipulator-fixed reference.

As a result, the mobile carrier is in the execution of the target movement of

tamper-proof reference integrated. As a result, the potential of the mobile robot can be better utilized.

In one embodiment, a drive comprises the transmission of control commands to the corresponding drive arrangement, in particular of control commands from the control to the actuator arrangement for at least temporarily moving the manipulator by its actuator arrangement and / or control commands from the controller to the motion drive arrangement for at least temporarily moving the carrier by its movement drive arrangement, in particular at least temporarily alone or in relation to the carrier stationary manipulator and / or at least temporarily synchronously with a movement of the manipulator by its actuator assembly.

The manipulator-resistant reference can be defined in one embodiment with respect to the end flange, in particular stationary, it can in particular at least one (s) So-called Tool Center Point ("TCP") of the manipulator, in particular be.

The desired movement may in particular comprise one or more desired positions, in particular one or more dimensional positions and / or orientations, of the reference, in particular one or more, in particular

Six-dimensional desired trajectory of the reference, in particular relative to a, in particular stationary, environment of the robot or a, in particular stationary, world coordinate system. Additionally or alternatively, in one embodiment, the desired movement may comprise a, in particular temporal, change of a desired position, in particular a displacement in one or more directions and / or a rotation about one or more axes.

In one embodiment, the desired movement is determined or predetermined in advance or offline, for example based on predetermined processing and / or transport paths of payloads or the like. In one embodiment, the target movement of the manipulator-fixed reference, in particular online, based on a manual application of force

Manipulator, in particular a manipulator fixed actuator, determined or predetermined by an operator. Accordingly, in one embodiment of the robot, in particular its control, means for determining the desired movement of the manipulator-fixed reference, in particular online, based on a manual application of force to the manipulator, in particular a manipulator-fixed

Actuator, by an operator. In a further development, the control or the means determines the desired movement so that the desired movement follows the manual application of force or to reduce, in particular minimize, searches, in particular such that a direction of the desired movement parallel to one direction the manual application of force or a

predetermined projection of the manual application of force, for example, in a predetermined movement subspace, is, or is set up for this purpose.

The application of force is detected in a development by means of sensors in joints of the manipulator, sensors between the manipulator and the carrier and / or sensors on one or more members of the manipulator, in particular by means of sensors on a, in particular non-destructively releasably or non-destructively releasably, with the manipulator, in particular its end flange, connected actuator, in particular a handle, and / or by means of a tactile surface of the manipulator. In one embodiment, the manipulator is yielding to determine or input the desired movement,

in particular gravitationally compensated, regulated, in particular directly or indirectly force-controlled, in particular admittance- or impedance-controlled, wherein in the present case for a more compact representation, a control is generalized as a control and an antiparallel force pair or torque is generalized as a force.

Additionally or alternatively, in one embodiment, the desired movement of the

Manipulatorsfesten reference, in particular online, also based on an operation, in particular movement, one of the robot spaced and with the

Control signal-connected input device, in particular a joystick, a computer mouse, control buttons or the like, are determined.

Accordingly, in one embodiment, a system comprises the robot and means, in particular sensors, for detecting a manual application of force to the manipulator, in particular a manipulator-fixed actuator, and / or a distance from the robot and signal-connected to the controller

Input device, and means for determining the desired movement based on

Signals of this force (beaufschlagungs) detecting means and / or input device.

In one embodiment, the method includes the step of: moving or

Repositioning of the carrier by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference in response to a, in particular current or actual, pose of the manipulator relative to the carrier, depending on a, in particular current or actual, position the carrier relative to the environment, in response to the desired movement and / or in response to a manipulator-controlled payload. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the movement drive arrangement for or when executing the target movement of the manipulator-fixed reference as a function of, in particular current or Actual, pose of the manipulator relative to the carrier, depending on one,

in particular current or actual, position of the carrier relative to the environment, in

Depending on the target movement and / or depending on a

manipulator-guided payload on. In one embodiment, the method comprises, in particular, the step of moving the carrier through the movement drive arrangement in order to carry out the desired movement of the manipulator-fixed reference as a function of a

Movement reserve of the manipulator and / or depending on a

Movement reserve of the vehicle. Accordingly, in one embodiment, the robot, in particular its controller, means for moving the carrier through the

Movement drive arrangement for or when executing the target movement of the manipulator-fixed reference in response to a movement reserve of the

Manipulator and / or depending on a movement reserve of the wearer.

In one embodiment, a movement reserve of the manipulator depends, in particular proportionally, on a ratio of a current to a maximum, in particular horizontal, display or deflection of the manipulator, in particular relative to the carrier, or the quotient of a current divided by a maximum, in particular horizontal, Distance (es) of its distal end flange of a carrier-fixed reference, in particular a carrier axis of the manipulator, from, they can specify in particular this ratio or this quotient or be defined thereby. In the present case, horizontal is also understood to mean in general terms a reference plane in which the mobile carrier can move.

In one embodiment, a maximum delivery or a maximum distance of the distal end flange can be defined or defined, in particular, by soft stops and / or hardware-related stops in one or more axes or degrees of freedom of the manipulator. In one embodiment, a maximum delivery or a maximum distance of the distal end flange for

According to the invention, controlling the mobile robot in particular also be selected to be smaller or as a structurally possible and / or safety-related predetermined value, in particular in order to realize an early activation or movement of the carrier. In one embodiment, a movement reserve of the wearer, in particular proportionally, depends on the distance of his current position to soft and / or

hardware-technical, environmentally fixed attacks or limits from, they can specify in particular this distance or be defined by this. Here, too, in a further development, a maximum distance to the control of the mobile robot according to the invention may be selected to be smaller or as a structurally possible and / or safety-related value, in particular in order to realize an early deactivation or shutdown of the carrier.

In one embodiment, the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference is so or driven such that a movement reserve of the manipulator and / or the carrier is increased.

Accordingly, in one embodiment of the robot, in particular its control means for controlling the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference so that a movement reserve of the manipulator and / or the carrier is increased on.

In particular, the controller for at least one desired position of the

manipulator-fixed reference (respectively) determine two different possible positions of the mobile carrier and select from these the one and the

Actuate drive drive assembly for starting this selected position in which the manipulator and / or the carrier have the greater motion reserve, or be set up for this purpose.

In this way, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, a reserve of movement is advantageously kept in reserve so that, for example, larger and / or faster desired movements are made possible.

Additionally or alternatively, in one embodiment, the carrier is replaced by the

Moving drive assembly for or when executing the target movement of the manipulator-fixed reference only (then) moves, if or as long as one

Movement reserve of the manipulator and / or the carrier falls below a predetermined limit, in particular minimum value. Accordingly, in one

Execution of the robot, in particular its control, means for moving the Carrier by the motion drive assembly for or when executing the target movement of the manipulator-fixed reference only (then), if or as long as one

Movement reserve of the manipulator and / or the carrier below a predetermined limit, in particular minimum value, on.

As a result, in one embodiment, during the execution of the target movement of the manipulator-fixed reference, the carrier is moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase movement precision.

In one embodiment, the movement reserve is determined as a function of the desired movement of the manipulator-fixed reference, in particular in the direction of the desired movement, in particular a horizontal component of the desired movement. Accordingly, in one embodiment of the robot, in particular its control, means for determining the movement reserve in dependence on the desired movement of the manipulator-fixed reference, in particular in the direction of the target movement, in particular a horizontal component of the desired movement on.

As a result, in one embodiment, a future advantageous movement reserve based on the desired movement can be predicted.

In addition or as an alternative to a consideration of a movement reserve, in one embodiment the method comprises in particular the step of moving the carrier through the movement drive arrangement for executing the target movement of the manipulator-fixed reference in dependence on a tilting stability of the robot. Accordingly, in one embodiment, the robot, in particular its controller, means for moving the carrier through the

Moving drive assembly for or in carrying out the target movement of the manipulator-fixed reference in response to a tilting stability of the robot.

In one embodiment, a tilt stability of the robot, in particular proportionally, depends on a torque which is impressed by a manipulator-controlled payload. Accordingly, it is in one embodiment depending on a weight and / or a horizontal distance of a manipulator-controlled payload to the carrier, in particular a carrier-fixed reference, in particular one, in particular next payload, tilting edge or a center of gravity of the robot.

Accordingly, in an embodiment of the robot, in particular its control, means for determining a tilt stability of the robot in dependence on a weight and / or a horizontal distance of a manipulator-controlled payload to the carrier, in particular a carrier-fixed reference, in particular one,

in particular payload next, tilting edge or a center of gravity of the robot, on.

In one embodiment, the movement drive arrangement is controlled to or during execution of the desired movement of the manipulator-fixed reference so that a

Tilting stability of the robot is increased. Accordingly, in one embodiment, the robot, in particular its control, means for driving the

Moving drive assembly for or on the execution of the target movement of the manipulator-fixed reference so that a tilting stability of the robot is increased on.

In particular, the controller for at least one target movement of

manipulator-fixed reference (respectively) at least two different possible

Determine positions of the mobile carrier and select the one of these and the moving drive assembly for driving to this selected position in which the robot has the greater tilt stability, or be set up for this purpose.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, the danger of tipping over is advantageously reduced or stability is increased.

Moving drive assembly for or when executing the target movement of the manipulator-fixed reference moves only if or as long as a tilt stability of the robot falls below a predetermined limit, in particular minimum value.

Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly for or during execution of the target movement of the manipulator-fixed reference only if or as long as a tilt stability of the robot falls below a predetermined limit, in particular minimum value , on. As a result, in one embodiment, during the execution of the target movement of the manipulator-fixed reference, the carrier is advantageously moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase movement precision.

In addition or as an alternative to a consideration of a movement reserve and / or tilt stability, in one embodiment the method comprises in particular the step of moving the carrier by the movement drive arrangement during execution of the target movement of the manipulator-fixed reference as a function of a horizontal component of the desired movement the manipulator-proof

Reference. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly for or when executing the target movement of the manipulator-fixed reference in response to a horizontal component of the target movement of

manipulator-proof reference to.

In a further development, the carrier is only moved by the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference, if or as long as a horizontal component of the desired movement of

manipulator-fixed reference exceeds a predetermined limit, in particular maximum value. Accordingly, in one embodiment, the robot, in particular its controller, means for moving the carrier through the

Movement drive arrangement for or when executing the target movement of the manipulator-fixed reference only if or as long as a horizontal component of the target movement of the manipulator-fixed reference exceeds a predetermined limit, in particular maximum value, on.

In particular, in one embodiment of a movement of the manipulator, a movement of the carrier can be superimposed, so as to realize a higher target movement, in particular horizontal target speed.

As a result, in one embodiment, during the execution of the target movement of the manipulator-fixed reference, the carrier is advantageously moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase movement precision. In an embodiment, the method comprises the step of: moving the carrier through the motion drive assembly and / or the manipulator through the

Actuator arrangement for executing the target movement of the manipulator-fixed reference as a function of a, in particular target and / or current or actual, pose of the manipulator relative to the carrier and / or one, in particular target and / or current or actual, Position of the carrier relative to the environment by means of or on the basis of an automated redundancy resolution, in particular -optimization, a single or multiple redundancy of, in particular entire, mobile

Robot, in particular such that a manipulability of, in particular entire, mobile robot and / or its distance from obstacles and / or hard and / or software technically predetermined Cartesian and / or

Axial attacks increased, in particular, is maximized. Accordingly, in one embodiment of the robot, in particular its control means for

Moving the carrier by the moving drive assembly and / or the

Manipulator by the actuator assembly for executing the target movement of the manipulator-fixed reference in response to one, in particular target and / or current or actual, pose of the manipulator relative to the carrier and / or one, in particular target and / or current or Actual, position of the carrier relative to the environment by means of or on the basis of an automated redundancy resolution, in particular -optimization, a single or multiple redundancy of,

in particular entire mobile robot, in particular such that a

Manipulatability of, in particular entire, mobile robot and / or its distance from obstacles and / or hardware and / or software technically predetermined Cartesian and / or axis attacks increased, in particular is maximized. In one embodiment, the manipulator carries a payload, in particular a workpiece or a person, in particular a person impaired in movement, in particular by means of an end effector arranged on his distal end flange, in particular a gripper, a carrying device or the like.

Thus, in one embodiment, the robot may, in particular, move

Perform payloads alone or in cooperation with another robot or one, in particular guided, person, in particular support a movement of payloads. In particular, the robot can in one embodiment the Compensate or support the weight of a manipulator-controlled payload, so that the operator can handle this advantageous.

According to an embodiment of the present invention, the method comprises the steps of: storing one or more positions, in particular a position (or trajectory) of the carrier when executing the target movement of the manipulator-fixed reference, in an embodiment together with or after a ( preceding) locating the carrier or its position (s) to be stored by means of a locating means, and optionally modifying the one or more of said stored position (s) of the carrier. Accordingly, in one

Execution of the robot, in particular its control, means for storing one or more positions, in particular a position (from) sequence or path, of the carrier when executing the desired movement of the manipulator-fixed reference and means for selectively modifying the or one or more of these

stored position (s) of the wearer on and in a development

Location means for locating the carrier or its position (s) to be stored. The localization means detects in one embodiment

to be stored (s) position (s) optically, in particular by means of laser beams, or is set up for this purpose. Additionally or alternatively, in one embodiment, the localization means is arranged completely or partially robotically, in particular carrier side, and / or completely or partially on the environment side, it may in particular have one or more onboard laser scanners and / or a (robot) external tracking system.

In one development, the method comprises, in particular, the steps of: storing one or more positions, in particular a position (from) sequence or path, of the carrier when executing the desired movement of the manipulator-fixed reference, repeating the execution of the desired movement of the manipulator-fixed reference Approaching the stored position (s) of the carrier, and optionally

Modifying the one or more of these stored position (s) of the wearer during this repetitive execution of the execution.

Accordingly, in one embodiment, the robot, in particular its controller, means for storing one or more positions, in particular one

Position (ab) sequence or path, of the carrier when executing the setpoint movement of the manipulator-fixed reference, means for repeating the execution of the setpoint Moving the manipulator-fixed reference to approach the stored position (s) of the carrier, and means for selectively modifying the one or more of the stored position (s) of the carrier during the same

repeated or repetition of the execution. Thus, in an embodiment in a first phase or a first pass, first, in particular by means of or based on an automated

Redundancy resolution, in particular -Optimierung, advantageous positions of the carrier for or when executing the target movement of the manipulator-fixed reference are determined, in particular in the manner described herein, taking into account a movement reserve of the manipulator and / or the carrier, a tilt stability of the robot and / or a horizontal component of the target movement of the manipulator-fixed reference.

Then in a second phase stored positions of the carrier are modified as needed, in particular manually or by operator input, for example, to avoid obstacles or the like, and / or computer-aided, for example, to subsequently optimize the movement, in particular by means of or on the basis of an automated Redundancy resolution, especially optimization, of a single or multiple redundancy of,

in particular entire mobile robot, in particular such that a

Manipulatability of, in particular entire, mobile robot and / or its distance from obstacles and / or hardware and / or software technically predetermined Cartesian and / or axis attacks increased, in particular is maximized. In particular, in the second phase, the target movement of the manipulator-fixed reference under the approach of the positions of the carrier, as determined in the first phase, again executed or repeated, in particular a target trajectory of the manipulator fixed reference (again) traversed and thereby the positions of the carrier stored in the first phase are modified as needed.

In one embodiment, in addition to the position (s) of the wearer, poses of the manipulator relative to the wearer, in particular persistently, are stored and / or optionally modified, in particular during the repeated execution of the stored positions and poses. Additionally or alternatively, in one Execution position (s) of the carrier stored in a card, which in one

Continuing education for a navigation of the carrier is used. Accordingly, in an embodiment of the robot, in particular its control, means for, in particular persistent, storing poses of the manipulator relative to the carrier in addition to position (s) of the carrier and / or for selectively modifying poses of the manipulator relative to the carrier, in particular during the

repeated execution of the stored positions and poses. In a

Execution, the robot, in particular its control, means on

Storing position (s) of the carrier in a card, which is used in a development for navigation of the carrier.

Accordingly, in one embodiment, the method includes the step of: modifying the one or more of the stored position (s) of the carrier based on an operator input during repetitive execution of the target movement of the manipulator-fixed reference. Accordingly, in one embodiment, the robot, in particular its controller, has means for modifying the or one or more of the stored position (s) of the carrier on the basis of an operator input during the repeated execution of the target movement of the manipulator-fixed reference.

The operator input can in a further development, in particular a manual

Applying force to the manipulator and / or carrier, in particular a manipulator or carrier-fixed actuating device, and / or an actuation, in particular movement, one of the robot spaced and with the

Include control signal-connected input device, in particular as here with respect to the determination or specification of the desired movement of the

Manipulatorsfesten reference is described.

In one embodiment, the execution of the desired movement of the manipulator-fixed reference with approaching the stored position (s) of the carrier with

Repeated reduced speed of the manipulator and carrier and thereby modifies the or one or more of the stored position (s) of the carrier.

Accordingly, in one embodiment of the robot, in particular its control, means for repeating the execution of the desired movement of the manipulator-fixed reference with approaching the stored position (s) of the carrier reduced speed of manipulator and carrier and means for modifying the one or more of the stored position (s) of the carrier based on an operator input during this repeated execution at a reduced speed. As a result, the modification can be simplified in one embodiment and / or the

Safety and / or precision can be increased.

A position of the carrier in one embodiment describes its one, two or three-dimensional position and / or one, two or three-dimensional orientation relative to a, in particular stationary, environment, in particular a component to be machined, or a, in particular stationary, world coordinate system.

In one embodiment, (respectively) a stored position of the carrier and a target position of the manipulator fixed reference or pose of the manipulator relative to the carrier or when executing the target movement of the manipulator fixed reference assigned to each other or linked, in particular stored together. Accordingly, in one embodiment, the robot, in particular its control, means for assigning or (in each case) a stored position of the carrier and a target position of the manipulator fixed reference or a pose of the manipulator relative to the carrier to or during the execution of Target movement of the manipulator-fixed reference to each other, in particular for storage together.

In one embodiment, modifying may include, in particular, changing and resaving, in particular overwriting or replacing a stored position.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to implement instructions implemented as a program stored in a memory system.

to process, capture input signals from a data bus and / or Output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the robot.

One or more of the steps of the method are carried out in one embodiment fully or partially automated, in particular by the

Control, or their means, which is set up according to an embodiment for the fully or partially automated implementation of one or more of the steps described here or are.

Further advantages and features emerge from the subclaims and the exemplary embodiments. To show this, partially schematized:

Fig. 1A - 1 D: the control of a robot according to an embodiment of

present invention; and

2 shows a method according to an embodiment of the present invention.

Fig. 1A shows a robot according to an embodiment of the present invention with a manipulator in the form of a seven-axis robot arm 10, whose joints or degrees of freedom by actuators qi,. , , , q ₇ one

Actuator assembly of the robot are adjustable.

The robot arm 10 has a distal end flange 1 1 with an end effector in the form of a gripper 12, which carries a payload 13.

It is arranged on a mobile carrier 20, the Mecanumräder through

Movement drives 21 of a movement drive assembly of the robot are adjustable.

On the carrier 20, a robot controller 30 is also arranged, which is signal-connected with the actuator and the motion drive assembly and a subsequent with Referring to Fig. 2 and the figure sequence Fig. 1A - Fig. 1 B - »Fig. 1C -> · Fig. 1 D performs explained method according to an embodiment of the present invention.

In a first step S10 (see Fig. 2) determines the controller 30 based on a manual force application F of the manipulator (see Fig. 1A) a desired (sequence) movement of a manipulator-fixed reference in the form of the TCPs of

Robot arm 10.

In one embodiment, the manual application of force may be detected by sensors in the joints of the robot arm 10 or between the robot arm 10 and the carrier 20. In a modification, it can also by sensors on a

Actuating device in the form of a handle 14 are detected, which is indicated by dashed lines in Fig. 1A. In a further modification, the desired movement can also be input, for example, by means of a joystick of a radio-connected input device 15, which is indicated by dashed lines in FIG. 1A, or the like, or determined by path planning. In a second step S20, the controller 30 determines based on a current pose of the robot arm 10 its movement reserve in the direction of this target movement and its tilt stability based on the weight and the payload 13 and its horizontal distance to the payload next tilting edge of the carrier 20th

(Aufstandlinie the right wheel in Fig. 1A). If, as indicated in Fig. 1 A, the tipping stability due to the display of the

Robotic arm below a predetermined threshold, controls the controller 30 in step S20, the movement drive assembly 21 so that it moves the carrier 20 so that the tipping stability is increased. This is indicated by the sequence of figures FIG. 1A -> FIG. 1B and the movement arrow x in FIG. 1B. In one embodiment, the controller 30 may include the motion drive assembly 21 and the

Actuator arrangement qi,. .., q ₇ by means of or on the basis of an automated

Redundancy resolution, especially optimization, of a single or multiple

Control redundancy of the entire mobile robot, for example, such that (in addition) a distance of the mobile robot is increased to obstacles. In a third step S30, the controller 30 stores this approached position of the carrier 20 relative to an environment, for example relative to the payload 13 or a fixed landmark, together with the position of the TCP.

In a step S40, the controller 30 checks whether further a target movement of the TCP is input. If so (S40: "Y"), it returns to step S10.

As a result, the robot can support a vertical lifting of the payload 13 and, for this purpose, proceeds automatically to an advantageous, tilt-stable position (cf., FIGS. 1A, B).

Subsequently, in the exemplary embodiment, the operator moves the lifted, manipulator-controlled payload 13 horizontally, as indicated in the figure sequence FIG. 1C -> FIG. 1D. In this case, the robot carries or carries the payload 13 or compensates for its weight.

For this purpose, the operator now imprints a horizontal guide force F, on the basis of which the controller 30 determines a corresponding setpoint (sequence) movement of the TCP in step S10. In step S20, the controller 30 determines based on the current pose of the

Robot arm 10 turn its movement reserve in the direction of this target movement and its tilt stability based on the weight and the payload 13 and its horizontal distance to the payload next tilting edge of the carrier 20th

If, as indicated in Fig. 1 C, the robot arm 10 is still a sufficient

Tilting stability and a sufficient reserve of movement in the direction of the target movement and whose speed is below a predetermined limit, controls the controller 30 in step S20, the setting and the

Moving drive assembly so that the robot arm 10 alone follows the target movement while the carrier 20 is stationary. This is in Fig. 1 C by

corresponding movement arrows of the robot arm 10 indicated.

If, on the other hand, as indicated in FIG. 1D, the robot arm 10 no longer has sufficient tilting stability or reserve of movement in the direction of the desired movement, or the speed of which exceeds a predetermined limit value, the robot controls In step S20, the controller 30 controls the positioning and moving drive assemblies so that the carrier 20 moves so that the TCP alone follows the target motion due to the movement of the carrier 20 or due to a superimposed movement of the robot arm 10. This is indicated in FIG. 1 D by the movement arrow x. As stated above, an automated redundancy optimization of the entire mobile robot can be carried out in each case in particular.

These constant or varying positions of the carrier 20 relative to the environment, in turn, the controller 30 stores in step S30 together with the corresponding positions of the TCP and checks in step S40, whether a target movement of the TCP is further input.

If this is no longer the case (S40: "N"), it proceeds to step S50.

In this it repeats the execution of the target movement of the TCPs approaching the associated stored positions of the carrier 20th

For example, it controls the movement drive arrangement 21 of the carrier 20 in such a way that, when the payload 13 is raised again, it moves back to the determined tilt-stable position relative to the payload (see FIG

Trajectory of the TCPs, in which the tipping stability and movement reserve of the

Robot arm 10 is sufficient and the speed of the target movement is below a threshold, in a position remains (see Fig. 1 C) or in sections of

Trajectory of TCPs in which the tipping stability or movement reserve of the

Robot arm 10 is insufficient or the speed of the target movement is above the limit, alone or together with a superimposed movement of the robot arm 10 realized the trajectory of the TCP.

In this case, the controller 30 detects an operator input x ', for example, a movement command to the movement drive assembly 21 of the carrier 20 by means of manual application of force to the carrier, joystick or the like and modified

optionally the stored position of the carrier 20, by this

changed according to the operator input x 'and stored again,

For example, the stored position overwrites. In a step S60, the controller 30 checks whether the target movement of the TCP has been completely executed. If so (S60: "Y"), the process ends; otherwise (S60: "N"), control returns to step S50.

Thus, in a first phase (steps S10-S40), initially, in particular by manual guidance, a target trajectory of the TCP is predetermined, thereby automatically determining a favorable path or position sequence for the carrier 20, so that the robot arm 10 has a greater movement reserve and the robot a bigger one

Tilting stability has. Subsequently, in a second phase (steps S50-S60), this path of the carrier 20 can be modified by repeating the stored trajectory of the TCP and the stored associated path of the carrier by the operator, for example to avoid new obstacles.

At this time, in step S50, the speed of robot arm 10 and carrier 20 may be reduced to facilitate the modification. In addition or as an alternative to a modification based on an operator input, when repeating the execution of the target movement of the TCP, the path or position sequence of the carrier 20 can also be modified computer-aided, for example by means of path planning, in particular by means of or based on an automated redundancy resolution, in particular -Optimization, a redundancy of the entire mobile robot, in particular such that a manipulability of the entire mobile robot and / or its distance from obstacles and / or hardware and / or software technically predetermined Cartesian and / or axis stops is increased.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that it is the exemplary

The explanations are merely examples of the scope of protection

Applications and the structure should in no way limit. Rather, the expert is by the preceding description a guide for the

Implementation of at least one exemplary embodiment given, wherein various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope, as it is apparent from the claims and these equivalent

Feature combinations results. LIST OF REFERENCE NUMBERS

10 robot arm (manipulator)

1 1 end flange

12 grippers

13 payload

14 handle (actuator)

15 external input device

20 mobile vehicles

21 (Mecanum wheel with) Movement drive 30 (robot) control

F manual application of force

qi,. , , , q ₇ actuator (degree of freedom)

x movement of the carrier

x 'operator input

TCP Tool Center Point

Claims

claims

A method of controlling a robot comprising a mobile carrier (20) having a motion drive assembly (21) disposed on the carrier

Manipulator (10) with an actuator assembly (qi - q ₇ ) and a controller (30), comprising the step:

Driving (S20) the actuator and the motion drive assembly to perform a target movement of a manipulator-fixed reference (TCP).

2. The method according to claim 1, characterized by the step:

Moving (S20) the carrier (20) through the motion drive assembly (21) to effect the manipulator reference (TCP) reference movement in response to a pose of the manipulator (10) relative to the carrier (20), a position of the carrier (20 ) relative to the environment, the desired movement and / or a manipulator-guided payload (13).

3. The method according to claim 2, characterized by the step:

Moving (S20) the carrier (20) through the moving drive assembly (21) to perform the target movement of the manipulator fixed reference (TCP) in FIG

Dependence on a movement reserve of the manipulator (10) and / or of the carrier (20).

4. The method according to claim 3, characterized by the step:

Determining (S20) the movement reserve as a function of the target movement of the manipulator-fixed reference.

5. The method according to any one of the preceding claims, characterized by the step:

Dependence on a tilting stability of the robot.

6. The method according to claim 5, characterized by the step: Determining (S20) the tipping stability as a function of a weight and / or a horizontal distance of a manipulator-guided payload (13) to the carrier.

7. The method according to any one of the preceding claims, characterized by the step:

Moving (S20) the carrier (20) through the motion drive assembly (21) to perform the target movement of the manipulator-fixed reference (TCP) in response to a horizontal component of the desired motion.

8. The method according to any one of the preceding claims, characterized in that the manipulator (10) carries a payload (13).

9. The method according to any one of the preceding claims, characterized in that the movement drive arrangement (21) for executing the desired movement of the manipulator-fixed reference (TCP) is driven so that a

Tilting stability of the robot and / or a movement reserve of the manipulator (10) and / or the carrier (20) is increased.

10. The method according to any one of the preceding claims, characterized by the steps:

Storing (S30) at least one position of the carrier (20) upon execution of the target movement of the manipulator-fixed reference; and

optionally modifying (S50) at least one position of the carrier stored in carrying out the reference movement of the manipulator-fixed reference.

1 1. Method according to claim 10, characterized by the steps:

Repeating (S50) the execution of the target movement of the manipulator-fixed reference (TCP) while approaching the at least one stored position of the carrier (20), wherein during this repeated execution at least one stored position of the carrier is optionally modified.

12. The method according to claim 11, characterized in that the execution (S50) of the desired movement of the manipulator-fixed reference (TCP) while approaching the at least one stored position of the carrier (20) with reduced Repeated speed and thereby at least one stored position of the carrier is modified.

13. The method according to any one of the preceding claims 10 to 12, characterized by the step:

Modifying (S50) the at least one stored position of the carrier based on an operator input (χ ').

14. The method according to claim 13, characterized in that the operator input (χ ') a manual application of force to the manipulator (10) and / or carrier

(20), in particular a manipulator or carrier-fixed actuating device (14), and / or an actuator, in particular movement, a spaced from the robot and signal-connected to the control input device (15).

15. The method according to any one of the preceding claims, characterized by the step:

Determining the target movement of the manipulator-fixed reference (TCP) on the basis of a manual application of force to the manipulator (10), in particular a manipulator fixed actuator (14), and / or an operation, in particular movement, a remote from the robot and signal-connected to the controller input device (15).

16. Robot with a mobile carrier (20) having a motion drive assembly

(21), a manipulator (10) arranged on the support, which has an actuator arrangement (qi - q ₇ ), and a control (30) which is connected to the

Implementation of a method according to one of the preceding claims is set up.

A computer program product having a program code stored on a computer-readable medium for carrying out a method according to any one of the preceding claims.