WO2019029870A1 - Dispositif de manipulation comprenant un robot ainsi que procédé et programme informatique - Google Patents

Dispositif de manipulation comprenant un robot ainsi que procédé et programme informatique Download PDF

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Publication number
WO2019029870A1
WO2019029870A1 PCT/EP2018/065689 EP2018065689W WO2019029870A1 WO 2019029870 A1 WO2019029870 A1 WO 2019029870A1 EP 2018065689 W EP2018065689 W EP 2018065689W WO 2019029870 A1 WO2019029870 A1 WO 2019029870A1
Authority
WO
WIPO (PCT)
Prior art keywords
trajectory
time
handling device
robot
module
Prior art date
Application number
PCT/EP2018/065689
Other languages
German (de)
English (en)
Inventor
Felix Beuke
Simon Jessen
Sergey Alatartsev
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201880051203.XA priority Critical patent/CN110914020B/zh
Priority to KR1020207003532A priority patent/KR102553391B1/ko
Priority to JP2020506796A priority patent/JP7003220B2/ja
Publication of WO2019029870A1 publication Critical patent/WO2019029870A1/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
    • B25J9/1656—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39083—Robot interference, between two robot arms
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40463—Shortest distance in time, or metric, time optimal
    • 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
    • G05B2219/40476—Collision, planning for collision free path
    • 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
    • G05B2219/40477—Plan path independent from obstacles, then correction for obstacles

Definitions

  • a handling device with a robot wherein the robot has a plurality of kinematic chains, wherein each of the kinematic chains is movable in a working space, wherein at least two of the working spaces have an overlap, wherein each of the kinematic chains is designed to carry out a working movement , with a control module for controlling the kinematic chains by one
  • the document DE 10 2013 014 287 A1 which is probably the closest prior art, describes a method for joining fine mechanical components by laser welding with the following steps: grasping a first component from a first magazine area with one at a first
  • Robotic arm provided first gripper. Gripping a second component from a second magazine region with a second gripper provided on a second robot arm for holding the first component with the first Gripper and holding the second component with the second gripper relative to each other and relative to a laser device in a first mounting position. Activation of the laser device and connect the first and the second component to each other by means of a first welded joint in the first mounting position to an assembly. Laying the assembly by means of the first gripper in a storage area.
  • the handling device is a device of an industrial automation technology.
  • the handling device is, for example, a robot workstation, a production station and / or a mounting station.
  • the robot is preferably designed to carry out an assembly step and / or a production step.
  • the robot is a single-arm robot, a two-arm robot or a multi-arm robot.
  • the robot may be an articulated robot.
  • the robot is designed as a multi-axis robot.
  • the handling device can be a plurality of
  • the robot has a plurality of kinematic chains.
  • the robot has exactly two or more than two kinematic chains.
  • the robot may have more than five and / or more than ten kinematic ones
  • the robot has an end effector at the end of the kinematic chain.
  • Each of the kinematic chains is in one
  • Working space movable.
  • the end effector is movable in the working space.
  • the working space is in particular a three-dimensional space.
  • each point of the working space is through the kinematic chain and / or reachable by the end effector.
  • At least two of the workspaces have an overlap.
  • the overlap can be one and / or both
  • the kinematic chains are designed to carry out a working movement.
  • the working movement serves, for example, to carry out the production and / or assembly step.
  • the working movement can be
  • a start of a point and / or a coordinate with the end effector For example, be a start of a point and / or a coordinate with the end effector.
  • the handling device and / or the robot has a control module for controlling the kinematic chains.
  • the control module is designed to control kinematic chains independently.
  • the activation of the kinematic chain is in particular for carrying out a working movement.
  • An overall movement can be represented by the working movements of the kinematic chains.
  • the total movement is the result of a series execution and / or combination of the working movements of the kinematic chains.
  • the total movement may be a synchronous movement of the kinematic chains, for example a two-armed lifting or a device-free mounting.
  • the overall motion is an asynchronous motion of the kinematic chains, such as gripping different workpieces with different kinematic chains one after another.
  • the control module is formed, the kinematic chain based on a
  • the Trajekto rientician is in particular a vector-valued function.
  • a kinematic chain comprises a number n of movable joints, the associated trajectory function being a vector with n entries, each entry indicating an angular position of the associated joint.
  • Trajektorienfunktion in addition to angular positions also include Verstell quiteen and Verstellbenchitch a joint.
  • the control module is preferably designed to serve in a discretized form as setpoint generator for the kinematic chain and / or joints.
  • the handling device comprises a trajectory determination module and a reparamization module. In particular, that can
  • Trajektorienbeéessmodul and the reparametrization module be part of the control module.
  • the control module, the trajectory determination module and / or the reparamization module are for example one
  • Computer unit a processor or a microchip.
  • the trajectory determination module is configured for each of
  • the trajectory determination module is designed to determine a minimum time trajectory for each of the kinematic chains of the robot independently of the other kinematic chains of the robot.
  • the repair parameterization module is implemented on the
  • the reparametrisiere trajectory function is designed so that kinematic chains perform the working movements so that the
  • control module is designed to control the kinematic chains based on the reparametris elected trajectory functions.
  • the invention is based on the consideration of an automated
  • a kinematic chain, a plurality of kinematic chains and / or all kinematic chains are each designed as a robot arm and / or manipulator.
  • the robot arms are designed to perform a mechanical work. For example, by means of the robot arm a
  • the robot arm is designed to carry out a positioning task and / or a measuring task.
  • the robot arm includes a gripper as end effector.
  • the robot arm comprises a plurality of axes of rotation and / or shear axes for performing the working movement.
  • Trajectory function is that which takes a minimum time to perform the work movement.
  • the minimal time trajectory is the
  • the trajectory determination module is designed, the minimum time trajectory based on a finite
  • a finite adjustment speed and / or finite adjustment acceleration of the kinematic chain and / or a joint is understood as a kinodynamic restriction.
  • the repair parameterization module is designed to repair the overall movement with a global time curve. It is provided in particular that for a robot with a number of x kinematic chains the
  • Global time curve is a curve in x-dimensional space, especially in R x .
  • the global time curve is writable by means of point tuples, with each entry in that point tuple describing a point in time on the
  • Minimal time trajectory corresponds to a kinematic chain.
  • the dot tuple In particular, time points and / or positions on different minimum-time trajectories are assigned to one another.
  • the minimum time trajectories are each described by means of a proper time by the trajectory determination module.
  • the proper time extends from an initial time to an end time, and the
  • Own time determines where the kinematic chain is located on the minimum time trajectory between the start time and the end time.
  • the repair parameterization module includes a test function.
  • the test function has as function arguments the minimum time trajectories.
  • the test function has, based on the function arguments as output, in particular a "collision of the kinematic chains" or a "collision freedom of the
  • test function outputs a value a, where a
  • the check function outputs a value b as a function value in the event of any collision of the kinematic chains, where b is 0, for example.
  • the reparamization module is configured to include a subspace in one
  • the robot has a number x of kinematic chains, the subspace being an x-dimensional subspace.
  • the repair parameterization module is in particular designed to associate a point in the subspace with the collision space if a collision of kinematic chains has been detected and / or the test function outputs the value a.
  • the reparametrization module is in particular designed to assign a point in the subspace to the effective space if no collision of the kinematic chains has been detected and / or the test function outputs the value b.
  • the repair parameterization module is preferably designed as a global time curve to determine a curve in the effective space.
  • the global time curve has no point in the collision space.
  • the total movement begins at a starting point and ends at an end point.
  • the starting point is preferably a point in the working space, wherein a time coordinate can be assigned to the starting point in the subspace.
  • the time coordinate of the starting point in the subspace corresponds in particular to the zero points of the minimum time trajectories of the kinematic chains in the subspace.
  • the end point is preferably a point in the working space, wherein a time coordinate can be assigned to the end point in the subspace.
  • the time coordinate of the end point in the subspace corresponds in particular to the end points of the minimum time trajectories of the kinematic chains in the subspace.
  • the reparametrization module is designed to determine, as the global time curve, a shortest connection between the time coordinate of the starting point and the time coordinate of the end point.
  • control module is designed to
  • Control of the robot to convert the reparametrisiere minimal time trajectory using an inverse kinematics is based entirely on an inverse kinematics.
  • a particularly preferred embodiment of the invention provides that the total movement comprises an asynchronous working movement of at least two kinematic chains.
  • the asynchronous working movement of at least two kinematic chains.
  • Another object of the invention is a method for driving a robot.
  • the method for controlling the robot with the handling device is designed according to one of the preceding claims.
  • the method provides that a minimum time trajectory is determined for each kinematic chain of the robot.
  • the minimum-time trajectory is in particular for describing a working movement of the kinematic chain educated.
  • the trajectory function based on the minimum-time trajectory is reparametrized such that an overall movement of the kinematic chains is collision-free.
  • Another object of the invention is a computer program with program code means for carrying out the method described above, when the computer program on a computer or the
  • Handling device is executed.
  • Figure 1 shows a handling device as a first embodiment
  • Figure 2 shows an embodiment of a subspace
  • FIG. 3 shows the subspace with collision space and effective space
  • FIG. 4 shows the subspace with global time curve
  • Figure 5 shows the subspace with global time curve and indicated
  • Figure 1 shows a handling device 1 with a robot 2 as an embodiment of the invention.
  • the handling device 1 is a mounting station of a production plant.
  • the robot 2 is designed for processing and / or mounting an object 3, for example a workpiece.
  • the robot 2 the object 3 grab, transport and edit.
  • the robot 2 has a first kinematic chain 4a and a second kinematic chain 4b.
  • the first and second kinematic chains 4a, 4b are each designed as a robot arm.
  • the first kinematic chain 4a has a plurality of joints 5a and the second kinematic chain 4b has a plurality of joints 5b.
  • the joints 5a and 5b are changeable in their angular position, so that by means of the joints 5a and 5b the
  • kinematic chains are each movable in a working space.
  • an end effector 6a, 6b is arranged, wherein the end effectors 6a and 6b are each formed as a gripper for gripping the workpiece 3.
  • the kinematic chains 4a and 4b are movable in the working space.
  • End effector 6a is movable by means of the kinematic chain 4a from a starting point along a movement path si (t) to an end point.
  • the end effector 6b is movable from a starting point along a moving path S2 (t) to an end point by means of the kinematic chain 4b.
  • the handling device 1 comprises a control module for controlling the kinematic chains 4a and 4b to run the path si (t) and S2 (t) with the end effector 6a and 6b.
  • the kinematic chain 4a is actuated based on a trajectory function qi, the kinematic chain 4b being driven based on a trajectory function q2.
  • the trajectory functions qi and q2 are each vector-valued functions, each having as many entries as the kinematic chain 4a, 4b has joints 6a, 6b.
  • the first kinematic chain 4a has three joints, with the associated kinematic chain 4a
  • Trajectory function qi for example, by qi (0i, 0 2 , 0 3 ) is writable, where
  • the adjustment acceleration of the joints comprises, for example, and is writable as ⁇ ⁇ ⁇ ⁇ 0i), (0 2 , 02 02). (03-03-0s)) -
  • the handling device 1 comprises a trajectory determination module for determining in each case a minimum time trajectory qi and q2 for the kinematic chains 4a and 4b.
  • the minimum-time trajectory is in each case the trajectory function for generating a movement of the kinematic chains 4a and 4b which requires the shortest time to execute the movement.
  • To carry out the Minimal time trajectory qi requires the kinematic chain 4a the time Ti.
  • To carry out the minimum time trajectory q2, the kinematic chain 4a needs the time T 2 .
  • the handling device 1 comprises a reparametrization module, the reparametrization module reparametrieisert the minimum time trajectories qi and q 2 by means of a global time curve ⁇ R SO that the total movement of the kinematic chains 4a and 4b is collision-free.
  • the control module is in particular designed to control the kinematic chains 4a and 4b for carrying out the working movements and / or to control them by means of the reparametrized minimum-time trajectories.
  • the control module uses the reparametris convinced minimal time trajectories as trajectory functions.
  • Minimal-time trajectory can reparametrisieren that the total movement is collision-free.
  • FIG. 2 shows a subspace 7, spanned by the proper times ⁇ and ⁇ 2 .
  • the subspace of this figure is an example of the subspace of
  • the proper times ⁇ and ⁇ 2 form, in particular, an orthonormal basis of the subspace 7.
  • the proper time ⁇ of the kinematic chain 4a forms the abscissa, whereby the proper time ⁇ 2 of the kinematic chain 4b forms the ordinate.
  • Below the abscissa the time course of the minimum time trajectory qi ⁇ is shown graphically.
  • To the left of the ordinate the temporal course of the minimum time trajectory q 2 (r 2 ) is shown graphically.
  • the time coordinate T s and ⁇ ⁇ indicated, the time coordinate T s corresponds to the proper times, in which the
  • FIG. 3 shows a representation in which the subspace 7 from FIG. 2 was divided by the reparameterizing module into an effective space 8 and a collision space 9.
  • the repair parameterization module comprises a test function c.
  • the test function c has as arguments the minimum time trajectories qi ⁇ ) and q2 (r 2 ), so that q2 (r 2 )).
  • the test function c is designed to check whether or not the kinematic chains 4a and 4b collide for given minimum-time trajectories qi ⁇ ) and q2 (r 2 ).
  • the test function determines that there is no collision for given minimum-time trajectories qi ⁇ ) and q2 (r 2 ) at a certain point in time ( ⁇ ⁇ ⁇ 2 ).
  • the corresponding point ( ⁇ ⁇ ⁇ 2 ) in the subspace 7 becomes the effective space 8 counted.
  • the test function determines that there is a collision for a given minimum time trajectory qi ⁇ ) and q2 (r 2 ) at a certain point in time ( ⁇ ⁇ ⁇ 2 )
  • the corresponding point ( ⁇ ⁇ ⁇ 2 ) in the subspace 7 is added the collision space 9 counted.
  • the repair parameterization module is designed to perform this check for collision and / or collision freedom for all times (TL, ⁇ 2 ).
  • FIG. 4 shows the subspace 7 of Figure 3 with the of
  • the global time curve ⁇ R connects the time coordinate of the starting point with the time coordinate of the
  • the global time curve ⁇ R represents the shortest connection between these two points, but with the condition that the global time curve ⁇ R runs exclusively in the effective space 8 and does not pass through the collision space 9.
  • FIG. 5 shows how the control module actuates the kinematic chains 4a, 4b based on the global time curve ⁇ R ZU for a collision-free overall task.
  • the kinematic chains 4a and 4a according to the

Landscapes

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

Abstract

Des robots pourvus de plusieurs bras sont de plus en plus utilisés dans la production industrielle. L'invention concerne un dispositif de manipulation (1) pourvu d'un robot (2), le robot (2) présentant une pluralité de chaînes cinématiques (4a, 4b), chacune des chaînes cinématiques (4a, 4b) étant mobile dans une chambre de travail. Au moins deux des chambres de travail présentent un chevauchement. Chaque chaîne cinématique (4a, 4b) est conçue pour réaliser un mouvement de travail. Le dispositif est pourvu d'un module de commande destiné à commander les chaînes cinématiques (4a, 4b) pour réaliser un mouvement global, le mouvement global pouvant être représenté par les mouvements de travail des chaînes cinématiques (4a, 4b). Le module de commande est conçu pour commander la chaîne cinématique sur la base d'une fonction de trajectoire q1, q2 pour la réalisation du mouvement de travail. Le dispositif est également pourvu d'un module de détermination de trajectoire et d'un module de reparamétrage, le module de détermination de trajectoire étant conçu pour déterminer pour chacun des mouvements de travail des chaînes cinématiques (4a, 4b) respectivement une trajectoire de temps minimal q1),( t1)q2(t2) comme fonction de trajectoire q1, q2, le module de reparamétrage étant conçu pour reparamétrer la fonction de trajectoire q1, q2 se basant sur la trajectoire de temps minimal q1),( t1)q2(t2), de sorte que le mouvement global s'effectue sans collision.
PCT/EP2018/065689 2017-08-07 2018-06-13 Dispositif de manipulation comprenant un robot ainsi que procédé et programme informatique WO2019029870A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880051203.XA CN110914020B (zh) 2017-08-07 2018-06-13 具有机器人的操纵装置以及方法和计算机程序
KR1020207003532A KR102553391B1 (ko) 2017-08-07 2018-06-13 로봇을 구비한 취급 장치, 방법 및 컴퓨터 프로그램
JP2020506796A JP7003220B2 (ja) 2017-08-07 2018-06-13 ロボットを備えるハンドリング装置、方法及びコンピュータプログラム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017213651.0 2017-08-07
DE102017213651.0A DE102017213651A1 (de) 2017-08-07 2017-08-07 Handhabungseinrichtung mit einem Roboter sowie Verfahren und Computerprogramm

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Publication Number Publication Date
WO2019029870A1 true WO2019029870A1 (fr) 2019-02-14

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JP (1) JP7003220B2 (fr)
KR (1) KR102553391B1 (fr)
CN (1) CN110914020B (fr)
DE (1) DE102017213651A1 (fr)
WO (1) WO2019029870A1 (fr)

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US11945117B2 (en) 2021-03-10 2024-04-02 Samsung Electronics Co., Ltd. Anticipating user and object poses through task-based extrapolation for robot-human collision avoidance
US11833691B2 (en) 2021-03-30 2023-12-05 Samsung Electronics Co., Ltd. Hybrid robotic motion planning system using machine learning and parametric trajectories

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KR20200038468A (ko) 2020-04-13
CN110914020A (zh) 2020-03-24
JP2020529931A (ja) 2020-10-15
CN110914020B (zh) 2023-08-18
JP7003220B2 (ja) 2022-01-20
KR102553391B1 (ko) 2023-07-11

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