WO2017186345A1 - Robot à support mobile et manipulateur - Google Patents

Robot à support mobile et manipulateur Download PDF

Info

Publication number
WO2017186345A1
WO2017186345A1 PCT/EP2017/000510 EP2017000510W WO2017186345A1 WO 2017186345 A1 WO2017186345 A1 WO 2017186345A1 EP 2017000510 W EP2017000510 W EP 2017000510W WO 2017186345 A1 WO2017186345 A1 WO 2017186345A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
carrier
movement
robot
fixed reference
Prior art date
Application number
PCT/EP2017/000510
Other languages
German (de)
English (en)
Inventor
Christian Scheurer
Axel Tillmann
Florian Käufl
Original Assignee
Kuka Roboter Gmbh
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 Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Priority to CN201780026000.0A priority Critical patent/CN109070352A/zh
Priority to EP17720001.1A priority patent/EP3448631A1/fr
Publication of WO2017186345A1 publication Critical patent/WO2017186345A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/40513—Planning of vehicle and of its manipulator arm

Definitions

  • 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.
  • 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.
  • the mobile carrier is thereby suitably positioned in advance,
  • Working area of the manipulator is located, and then moved at now immobile carrier only the manipulator.
  • Object of the present invention is the operation, in particular the
  • Claims 16, 17 provide a robot with a controller and
  • 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.
  • Motion drive assembly coupled chassis, in particular a
  • non-driven wheels omnidirectional wheels, especially so-called Mecanum wheels.
  • 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.
  • 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.
  • the mobile carrier faces an environment of the robot or carrier, in particular a bottom surface of a robot
  • 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 ,
  • Motion drive assembly has in one embodiment, one or more drives, in particular electric or hydraulic motors on.
  • the manipulator has one or more, in particular
  • 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.
  • 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
  • the robot in one embodiment, the robot, the robot, and
  • control means for controlling the actuating
  • Movement drive assembly for or when executing a target movement of a manipulator-fixed reference.
  • the mobile carrier is in the execution of the target movement of
  • 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.
  • TCP Tool Center Point
  • 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
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the manipulator is yielding to determine or input the desired movement
  • a control is generalized as a control and an antiparallel force pair or torque is generalized as a force.
  • 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.
  • 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
  • the method includes the step of: moving or
  • 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,
  • 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
  • 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
  • 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.
  • horizontal is also understood to mean in general terms a reference plane in which the mobile carrier can move.
  • 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
  • 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.
  • a movement reserve of the wearer in particular proportionally, depends on the distance of his current position to soft and / or
  • 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.
  • 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.
  • 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.
  • the controller for at least one desired position of the
  • manipulator-fixed reference 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.
  • a reserve of movement is advantageously kept in reserve so that, for example, larger and / or faster desired movements are made possible.
  • 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
  • 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.
  • 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.
  • a future advantageous movement reserve based on the desired movement can be predicted.
  • 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.
  • 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.
  • 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.
  • 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,
  • the movement drive arrangement is controlled to or during execution of the desired movement of the manipulator-fixed reference so that a
  • the robot in particular its control, means for driving the robot
  • 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.
  • the controller for at least one target movement of
  • manipulator-fixed reference (respectively) at least two different possible
  • the danger of tipping over is advantageously reduced or stability is increased.
  • the carrier is replaced by the
  • 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.
  • 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.
  • a predetermined limit in particular minimum value
  • 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
  • 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
  • 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.
  • a movement of the carrier can be superimposed, so as to realize a higher target movement, in particular horizontal target speed.
  • 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.
  • 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
  • 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,
  • 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.
  • the robot may, in particular, move
  • 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.
  • 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
  • Location means for locating the carrier or its position (s) to be stored.
  • the localization means detects 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.
  • 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
  • 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
  • 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.
  • 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,
  • 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.
  • poses of the manipulator relative to the wearer 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
  • 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
  • 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.
  • 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
  • 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.
  • the modification can be simplified in one embodiment and / or the
  • 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.
  • 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.
  • 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.
  • 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.
  • Fig. 1A - 1 D the control of a robot according to an embodiment of
  • FIG. 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.
  • Movement drives 21 of a movement drive assembly of the robot are adjustable.
  • 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.
  • a first step S10 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
  • 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.
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • 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).
  • the operator moves the lifted, manipulator-controlled payload 13 horizontally, as indicated in the figure sequence FIG. 1C -> FIG. 1D.
  • the robot carries or carries the payload 13 or compensates for its weight.
  • step S10 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
  • 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
  • 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.
  • an automated redundancy optimization of the entire mobile robot can be carried out in each case in particular.
  • 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.
  • step S50 If this is no longer the case (S40: "N"), it proceeds to step S50.
  • 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
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • step S50 the speed of robot arm 10 and carrier 20 may be reduced to facilitate the modification.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande d'un robot qui est composé d'un support mobile (20) comportant un système de commande de déplacement (21), d'un manipulateur (10) monté sur ledit support et comportant un système actionneur (q1 - q7), et d'une commande (30), ledit procédé comprenant l'étape consistant à piloter (S20) le système actionneur et le système de commande de déplacement en vue de l'exécution d'un mouvement de consigne d'un élément de référence fixe par rapport au manipulateur (point d'effecteur, « tool center point », TCP).
PCT/EP2017/000510 2016-04-26 2017-04-20 Robot à support mobile et manipulateur WO2017186345A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780026000.0A CN109070352A (zh) 2016-04-26 2017-04-20 具有移动基座和操纵器的机器人
EP17720001.1A EP3448631A1 (fr) 2016-04-26 2017-04-20 Robot à support mobile et manipulateur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016005029.2A DE102016005029A1 (de) 2016-04-26 2016-04-26 Roboter mit mobilem Träger und Manipulator
DE102016005029.2 2016-04-26

Publications (1)

Publication Number Publication Date
WO2017186345A1 true WO2017186345A1 (fr) 2017-11-02

Family

ID=58640815

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/000510 WO2017186345A1 (fr) 2016-04-26 2017-04-20 Robot à support mobile et manipulateur

Country Status (4)

Country Link
EP (1) EP3448631A1 (fr)
CN (1) CN109070352A (fr)
DE (1) DE102016005029A1 (fr)
WO (1) WO2017186345A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017010197B4 (de) * 2017-10-30 2019-10-10 Kuka Deutschland Gmbh Verfahren zum Betreiben eines automatischen Transporters
DE102018207826A1 (de) * 2018-05-18 2019-11-21 Kuka Deutschland Gmbh Handhabung, insbesondere, Transport von Gütern, insbesondere Wafern, durch einen Roboter

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012208095A1 (de) 2012-05-15 2013-11-21 Kuka Laboratories Gmbh Mobiler Roboter und Verfahren zum Betreiben eines mobilen Roboters

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7874386B2 (en) * 2007-05-11 2011-01-25 Pinhas Ben-Tzvi Hybrid mobile robot
WO2010024794A1 (fr) * 2008-08-29 2010-03-04 Abb Research Ltd. Dispositif souple pour l’outil situé à l’extrémité d’un bras d’un robot industriel
US8428781B2 (en) * 2008-11-17 2013-04-23 Energid Technologies, Inc. Systems and methods of coordination control for robot manipulation
US20120283746A1 (en) * 2011-05-02 2012-11-08 Hstar Technologies Mobile Medical Robotic System
CN103796806B (zh) * 2011-09-13 2016-06-29 株式会社安川电机 自行机器人和自行台车
DE102011084412A1 (de) * 2011-10-13 2013-04-18 Kuka Roboter Gmbh Robotersteuerungsverfahren
DE102012208094A1 (de) * 2012-05-15 2013-11-21 Kuka Laboratories Gmbh Verfahren zum Ermitteln möglicher Positionen eines Roboterarms
US20140031977A1 (en) * 2012-07-27 2014-01-30 Engineering Services Inc. Modular mobile robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012208095A1 (de) 2012-05-15 2013-11-21 Kuka Laboratories Gmbh Mobiler Roboter und Verfahren zum Betreiben eines mobilen Roboters

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
KELVIN GONG ET AL: "A hierarchical control scheme for coordinated motion of mobile manipulators", AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA), 2011 5TH INTERNATIONAL CONFERENCE ON, IEEE, 6 December 2011 (2011-12-06), pages 115 - 120, XP032106787, ISBN: 978-1-4577-0329-4, DOI: 10.1109/ICARA.2011.6144868 *
Q. HUANG ET AL: "Coordinated Motion Planning for a Mobile Manipulator considering Stability and Manipulation", INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH., vol. 19, no. 8, 1 August 2000 (2000-08-01), US, pages 732 - 742, XP055387413, ISSN: 0278-3649, DOI: 10.1177/02783640022067139 *
REY D A ET AL: "Online automatic tipover prevention for mobile manipulators", INTELLIGENT ROBOTS AND SYSTEMS, 1997. IROS '97., PROCEEDINGS OF THE 19 97 IEEE/RSJ INTERNATIONAL CONFERENCE ON GRENOBLE, FRANCE 7-11 SEPT. 1997, NEW YORK, NY, USA,IEEE, US, vol. 3, 7 September 1997 (1997-09-07), pages 1273 - 1278, XP010264806, ISBN: 978-0-7803-4119-7, DOI: 10.1109/IROS.1997.656414 *

Also Published As

Publication number Publication date
DE102016005029A1 (de) 2017-10-26
CN109070352A (zh) 2018-12-21
EP3448631A1 (fr) 2019-03-06

Similar Documents

Publication Publication Date Title
EP2868445B1 (fr) Procédé de programmation de déroulements de mouvement d'un robot industriel redondant et robot industriel associé
EP1950010B1 (fr) Robot et procédé de programmation d'un robot
EP2243602B1 (fr) Procédé et dispositif de commande d'un manipulateur
EP3755609B1 (fr) Robot mobile ainsi que procédé servant à exécuter un mouvement de marche
EP2073084B1 (fr) Procédé et dispositif de commande d'un manipulateur de robot
WO2019081155A1 (fr) Procédé et système pour faire fonctionner un robot mobile
EP3017919A2 (fr) Configuration d'angle de redondance base sur un evenement pour un robot articule
EP3323026A1 (fr) Détermination d'une instruction d'entrée pour un robot, qui est entrée en exerçant manuellement une force sur le robot
EP2851162A2 (fr) Procédé de réglage manuel de la pose d'un bras manipulateur d'un robot industriel et robot industriel associé
EP1591209A2 (fr) Procédé de commander une machine, en particulier un robot industriel
EP2000872B1 (fr) Robot industriel et procédé de programmation d'un robot industriel
WO2017063733A1 (fr) Référencement haptique d'un manipulateur
EP2581177A2 (fr) Procédé de commande de robot
DE102015223258A1 (de) Verfahren zum Bearbeiten der Oberfläche eines dreidimensionalen Objekts
DE102017001131A1 (de) Verfahren und System zum Betreiben eines Roboters
DE102009007181A1 (de) Verfahren zum Abfahren einer vorgegebenen Bahn durch einen Manipulator, sowie Steuervorrichtung zur Durchführung eines solchen Verfahrens
DE102012208095A1 (de) Mobiler Roboter und Verfahren zum Betreiben eines mobilen Roboters
WO2018010842A1 (fr) Résolution redondante pour manipulateur redondant
EP3448631A1 (fr) Robot à support mobile et manipulateur
EP3569367B1 (fr) Détermination d'un mouvement d'un dispositif assistée par ordinateur
DE102018207919B3 (de) Robotersteuerung
EP3131710A1 (fr) Dispositif robot présentant un axe linéaire
DE102015008188B3 (de) Abfahren einer vorgegebenen Bahn mit einem Roboter
DE102022126205B4 (de) Robotersystem zum Bewegen einer Nutzlast mit minimalem Schwanken der Nutzlast und erhöhter Positionierungsgenauigkeit
DE102015004146B3 (de) Oberflächenbearbeitung eines Bauteils mittels eines mobilen Roboters

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2017720001

Country of ref document: EP

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17720001

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2017720001

Country of ref document: EP

Effective date: 20181126