WO2019166229A1

WO2019166229A1 - Method for automatically generating a movement trajectory and associated computer program product

Info

Publication number: WO2019166229A1
Application number: PCT/EP2019/053689
Authority: WO
Inventors: Yevgen Kogan
Original assignee: Kuka Deutschland Gmbh
Priority date: 2018-03-01
Filing date: 2019-02-14
Publication date: 2019-09-06
Also published as: DE102018203078B3

Abstract

The invention relates to a method for automatically generating a movement trajectory (BT) of a reference point of a machine to be controlled automatically, wherein the machine has drives (M1-M6) which are designed to move the reference point of the machine in space, specifically controlled by a control device (1), which is designed to control the drives (M1-M6) of the machine on the basis of the automatically generated movement trajectory (BT) as a reference variable by means of a movement controller (BS), wherein the movement trajectory (BT) is generated automatically by means of a path planning program (BP) on the basis of a first movement instruction (P1) to be executed in an approximate positioning mode, and at least one second movement instruction (P2.1, P2.2), following the first movement instruction (P1), of a machine movement program (MP) to be executed by the control device (1).

Description

Method for automatically generating a movement trajectory and associated computer program product

The invention relates to a method for automatic Erzeu conditions a movement trajectory of a reference point of au tomatically controlled machine, wherein the machine has Antrie be, which are adapted to move the reference point of the machine Ma in space and controlled by a control device which is formed to control the drives of the machine on the basis of the automatically generated movement trajectory as a reference variable by means of a motion control, the movement trajectory being based on at least one first movement instruction to be executed in a smoothing mode and at least one second movement instruction following one of the first movement instruction Maschinenbewegungspro programs by means of a path planning program automatically he testifies, being in the machine motion program in the process flow between the first movement instruction and a subsequent second movement instruction itself a conditional program branch is located, which, depending on a trigger the event, a first alternative of a second movement statement or at least one second alternative of a second movement instruction. The invention also relates to an associated computer program product.

EP 2 022 608 B1 describes a method for generating a trajectory of a movement system in which a trajectory is defined as a sequence of one or more path segments (movement steps), wherein a suppression of a suppression of a first velocity profile and fading of a superimposed area of a subsequent second velocity profile takes place within a so-called mixing radius there. Such masking out of a first velocity profile and such subsequent insertion of a subsequent second velocity profile is generally also referred to as "over-grinding." Flushing is described, for example, in robotics and in machine tools in the context of so-called PTP control (English: point In the execution of movement instructions, a reference point of the machine to be controlled (for example, a robot arm or a machine tool) gradually becomes from a first space point to a second one In addition to an asynchronous PTP control, a synchronous PTP control is generally known in which not only the target points to be approached of the individual movement instructions are retransformed in order to control the axes of the machines Then al lein on this basis on Achskoordinateneben angezusteu ren, but also the motion profiles are planned from start to finish point in a path planning program and indeed in terms of their speed profiles and / or acceleration profiles Be. Thus, for example, in a train planning motion instructions may be provided that for each driven degree of freedom of the machine, beispielswei se each driven joint of a robot arm, the maximum speed and taking into account starting point to target point of movement, a movement time is calculated for each joint, the Joint with the longest movement duration is defined as a leading axis and the other ren, remaining degrees of freedom or joints in their speed profiles and / or acceleration profiles are adapted so that all degrees of freedom or joints begin at the same time with their individual movements and also simultaneously with their end individual movements.

To make this possible, the movement instructions of the Machine motion program, which may be implemented in a sequence control, passed to a motion control and there transformed in a path planning program in an individual speed profiles and / or acceleration profiles of the degrees of freedom of the machine or joints of the robot arm to the drives of the machine or the driven joints of the robot arm Speed profiles and / or the acceleration profiles accordingly to move controlled by a Bewegungssteue move. The motion control may include the path planning program, ie, a path control, and a motion execution control executing the motions. The machine motion program towards may be part of the flow control. Depending on the system architecture of the controller or controllers, the motion control and the sequence control may be separate

be part of a common control. Usually, however, the sequence control is implemented in a preferably non-real-time capable control part, whereas at least the motion execution control or the entire motion control, comprising the motion execution control and the path control, is implemented in a real-time capable control part.

Machine motion programs may generally include conditional program branches. In the case of a conditional program branch, which may be, for example, an IF statement or a WHILE statement, the target point to be approached next depends on the triggering event, so that it is not pre-determined in time before the occurrence of the event which target point of if necessary, to use several alternative possible target points. Because of this ambiguity in advance, destinations of move instructions across a program subtraction generally can not be approached. It is known in such a case to plan a For example, in the context of a so-called pre-stop, ie a discontinuation of a computational time planning of actually not yet achieved by the rooter, but provided in the program to be approached points to the last before the conditional program branching target point without blending directly to start in order to start a new looping sequence after the conditional branching. In many cases, however, an interruption of the blending is disadvantageous, since this can lead to time delays, jerking and / or discontinuous trajectories.

The object of the invention is to provide a method for automatically generating a movement trajectory of a reference point of a machine to be controlled automatically, with the blending of the target points of movement instructions even over conditional program branches away is possible.

This object is achieved by a method for automatically generating a movement trajectory of a loading zugspunktes an automatically controlled machine, the machine has drives that are designed to move the loading zugspunkt the machine in space and indeed angesteu ert by a control device which is formed to control the drives of the machine based on the automatically generated movement trajectory as a reference variable by means of a BeWe control, the movement trajectory on the basis of at least one in a smoothing mode from supplying the first movement instruction and at least one of the first movement instruction following second Bewegungsungsan instruction of a run by the control device Maschi nenbewegungsprogramms is automatically generated by means of a path planning program, wherein in the machine motion program in the flow direction between the first movement instruction and a subsequent second movement instruction is a conditional Program branching, which, depending on a triggering event, specifies a first alternative of a second movement instruction or at least a second alternative of a second movement instruction, comprising the steps of:

Determining properties of the two or more alternative second movement instructions that are possible according to the conditional program branching,

- determining a point in time at which a rounding movement must start at the latest, from all startup _Z eitpunkten of two or more alternative second movement instructions to which each individual rounding motion must begin at the latest,

Transmitting the characteristics of the first movement instruction and the two or more alternative second movement instructions to a path planning program, taking into account the at least one of the two or more alternative second movement instructions corresponding at least two or more pre-planned movement trajectory portions, taking into account the base point of the first move instruction to be lashed provides,

if the triggering event for the conditional program branch has taken place, selecting that predefined movement trajectory section which corresponds to the alternative second movement instruction corresponding to the triggering event of the conditional program branch which is branched off on the basis of the triggering event,

Transferring the selected, pre-planned movement trajectory section to the movement execution for executing a movement of the machine such that the reference point of the machine corresponds to the selected, pre-planned motion trajectory section moves accordingly automatically.

The machine to be controlled automatically by the method can be a machine tool or, in particular, a robot. The robot may include a robot arm having a plurality of links connected by joints, the links being movable by means of drives to automatically adjust the links of the robot arm in accordance with a robot program.

The drives of the machine, in particular of the robot can in particular comprise electric motors which are controlled by a control device, in particular a drive control of the control device, in particular can be driven in a controlled manner. The motors can be equipped with gearboxes.

The control device may include the drive controller, a motion controller, and a scheduler. As already mentioned, the control components can be combined in one common control unit or designed as separate control components and connected to one another via communication links. On the control device, in particular on the sequence control we can at least one machine movement program stored and set up for execution. In that regard, the Steuervor direction may comprise a computer program product comprising a ma chine-readable carrier is stored on the program code chert, which is readable from the machine, in particular by a Robo tersteuerung of the robot, so that the machine or the robot trains and / or set up is to perform he inventive method when the program code is executed by the machine or the robot or its control. The machine motion program, which may be a robot program so far, contains motion instructions, in particular the motion instructions, according to which a pre-defined reference point in space is to be moved through the machine or robotic arm. The reference point can be a tool reference point, which is also known as TCP (Tool Center Point). A tool reference point may be a real or virtual point on a tool handled by the machine, in particular the robot arm. In a simple case, for example, the reference point may also be a flange flange coordinate system fixedly connected to the flange of the robot arm.

The path planning program of the path control system provides algorithms, models and / or computational rules that directly create or indirectly create a motion trajectory for the reference point based on the motion instructions contained in the machine motion program such that motion profiles, in particular velocity profiles and / or acceleration profiles, are axis-related or Cartesian the path planning program is generated. The corre sponding motion profiles, in particular Geschwindigkeitsprofi le and / or acceleration profiles are then transferred in particular in achsbezogener form to the motion execution control, which in turn the drives i. The motors of the machine or the robot arm can also be controlled or regulated on the drive level.

In the case of movement instructions, which can be carried out in principle with asynchronous axis movements or synchronous axis movements, the trajectory of the trajectory is not accurately planned in their exact trajectory, however, so far a motion planning takes place in which the speed profiles and / or the acceleration pro file the individual axis movements are well planned, resulting in a reproducible steti ger trajectory depending on the respective starting point and the assumed target point or the assumed multiple successive target points. As already mentioned, in a smoothing mode, the exact target points defined by the movement instructions are not approached exactly but, avoiding stopping in a parameterizable distance range, are bypassed by the respective target point in order to obtain a motion trajectory with a continuous speed profile.

The movement trajectory is a graphical representation of the course of motion that the reference point passes through in space. The movement trajectory is insofar the track on which the reference point moves when the machine or robot is automatically controlled according to the machine motion program. The movement trajectory may also comprise speed data, in particular with respect to interpolation points of the course of the movement or of the track.

A motion trajectory section generally represents a subsection of the entire motion trajectory. Specifically, according to the present invention, the respective motion trajectory sections will be those parts of several possible motion trajectories that may alternately occur in the machine motion program due to the conditional program branching, as long as that for the conditional program branching event has not yet taken place and therefore it is not yet clear which of the two or more possible movement trajectory sections actually takes place.

Blending is used, for example, in robotics and machine tools as part of a so-called PTP control in which motion instructions are executed become. In the execution of movement instructions, a reference point of the machine to be controlled (for example, a robot arm or a machine tool) is gradually moved from a first space point to a second space point and given successively to further following space points, wherein in a blending mode, the respective bases of the movement instructions may not be achieved more directly, but avoiding a complete stop of the machine or the robot arm or its loading zugspunktes, the reference point is moved only in the vicinity of such a sol cher grounded base so as to drive equal to the next base of the next Be wegungsanweisung , Such a sanding motion is thus characterized by the fact that at such intermediate Stel settings (over-grinding bases) is passed without stopping the Be zugspunktes.

Although the target points to be approached are firmly predetermined by the respective movement instruction, these target points are in fact often not reached in the rounding mode.

Machine motion programs may generally include conditional program branches. In the case of a conditional program branch, which may be, for example, an IF statement or a WHILE statement, the target point to be approached next depends on the triggering event, so that it is not pre-determined in time before the occurrence of the event which target point of if necessary, to use several alternative possible target points. Because of this vagueness in advance, destinations of move instructions over a program split may not generally be performed. It is known, in such a case, to interrupt the planning of an overhaul, for example in the context of a so-called called Vorlaufstopps to approach the last before the conditional program branch branch target point without smoothing to begin after the conditional program branch a new sequence of rounding. In many cases, however, an interruption of the blending is disadvantageous, since this can lead to time delays, jerking and / or discontinuous trajectories.

The triggering event may accordingly be a physical event to which the machine motion program is to respond in a programmed manner by means of the program branching. The triggering event for the machine motion program insofar as any condition to be tested, is diverted at the occurrence or presence in the respective program branch provided. The triggering event does not necessarily have to occur until shortly before the timely arrival of the program branch, but may possibly have occurred earlier and thus occurred well before the program branch was reached. The triggering event or the condition to be tested can then be queried and / or evaluated immediately before the program branching or shortly before the program is deducted, for example as to whether the condition to be checked or the event still exists. In that regard, the condition to be tested or the event can already be present far in advance, but only at the time or shortly before the time of reaching the program branch diversion be queried. To this extent, the triggering event can be the query or the checking of an already existing condition and / or a physical condition that is already present. The condition and / or the state can be detected, for example, by means of at least one sensor which, in the simplest case, supplies a Boolean state which forms a parameter for a waiting function in the machine motion program, which only delivers a result when the defined time for program branching is reached.

In that the method according to the invention provides the following steps:

- Transmitting the properties of the first movement instruction and the two or more target points of the two or more alternative second movement instructions to a Bahnpla tion program, the two or more alternative second movement instructions ent speaking at least two or more vorausplanned in consideration of the umlei fenden base of the first movement instruction ent speaking Motion trajectory sections created,

- Transmitting the selected, pre-planned movement trajektorien section to the flow control for performing a movement of the machine such that the reference point In accordance with the fact that the machine automatically moves according to the selected, pre-planned movement trajectory section, a method for automatically generating a movement trajectory of a reference point of a machine to be automatically set up can be provided with which the destination points of movement instructions can also be looped over conditional program branches is.

Determining a timing at which a rounding movement must start at the latest, from all startup _Z eitpunkten of two or more alternative second movement instructions to which each individual rounding motion must begin at the latest, and transmitting the characteristics of the first move instruction and the two or multiple target points of the two or more alternative second motion statements to a path planning program, taking into account the base point of the first motion instruction to be looped, corresponding to two or more alternative two movement statements, at least two or more pre-planned motion trajectory sections be carried out in a timely manner with respect to each other. The order can be so far almost arbitrary and possibly also be swapped in the order sequence.

With the solution according to the invention, the function of over-grinding in movement instructions as part of an adaptive web guide in an online operation even over conditional program fork branches away stop running in a steady Ge speed progression and / or possibly jerk who the.

A generally possible offline planning of looping movement instructions is usually not possible in the case of conditional program branches, since the conditional Program elimination trigging ie triggering event is not known in advance.

With the method according to the invention, complete planning of the movement trajectory under real-time conditions is not necessary. By contrast, the smoothing movement to be planned with the method according to the invention in a preview over one, two or more movement instructions can take place in a non-real-time capable path control. The Bahnsteue tion can thus be created in a non-real-time programming language.

The conditional program branch may additionally comprise at least one further movement instruction in at least one alternative determined by the initiating event, in addition to a second movement instruction

- Determining the time at which a rounding movement must start at the latest from all start _Z eitpunkten of the two or more alternative second movement instructions, to which the respective individual blending movement must begin latest tens, taking into account the respective further movement instructions to the respective second Move instruction, and

a transfer of the properties of the first movement instruction to be looped and the two or more destination points of the two or more alternative second movement instructions and the respective further movement instructions to the path planning program, wherein the path planning program taking into account the characteristics of the first movement instruction to be looped the two or meh reren alternative second movement instructions and the depending Weil further movement instructions corresponding at least two or more preplanned movement trajectory sections are created.

Accordingly, not only the first movement instruction immediately preceding the conditional program branching and the second movement instruction immediately after the conditional program branching are taken into account or used for the rounding-off mode beyond the conditional program branching, but also at least one further movement instruction. So for example, a third movement instruction and a four te movement instruction, the un indirectly follow the second movement instruction. The number of move instructions to be used may be based on the time remaining available prior to the conditional program branching to allow the two or more possible movement trajectory sections to be timely timed before the conditional program branch is reached.

The path planning program can accordingly be set up except for the first interpolation point of the first movement instruction to additionally plan at least one second interpolation point of the second movement instruction and / or every third or further interpolation point following another program instruction in the program sequence.

A specific embodiment of the method can be characterized by automatic or manual referencing in the machine movement program of the two or more alternative second movement instructions and / or the further movement instructions following the conditional program subtraction in the machine motion program in the flow direction in one direction of the program branching movement instruction, in particular before the first movement instruction or in the first movement instruction, which the Conditional program branch in the machine motion program in the flow direction immediately precedes.

In a special variant of the method, for example, automatic referencing can take place in that the machine movement program has access functions or access methods comprising formal parameters into which the second movement instructions to be referenced and / or further movement instructions are automatically entered as actual parameters Parameter virtual le return values form, the programs by the Maschinenbewegungspro as virtual call parameters of the second movement instructions and / or other movement instructions before their actual execution automatically made read.

Manual referencing, for example, may be performed in another version of the method by having machine motion programs that include editable motion instructions that include attributes in which the properties of the second motion statements to be referenced and / or the further motion statements are the actual parameters Movement instructions can be entered manually.

Generally, i. In all embodiments, the characteristics of the particular motion statement may not only be parameters of the motion statement, such as the destination points or coordinates, the requested speeds and / or accelerations, but may be other speci cations of the motion statement, such as, in particular, the type of motion statement , eg PTP command, LIN command or CIRC command as such.

In all of the appropriate embodiments, determining the characteristics of the two or more alternative The second movement instructions, which are possible in accordance with the conditional program branching, take place in that the two or more alternative second movement instructions and / or further movement instructions referenced in the first movement instruction are read out on the basis of the references in the first movement instruction. Thus, the movement instructions lying behind the conditional program reduction in the program sequence can already be read out in time prior to the conditional program branch and thus taken into account in the on-the-fly control. In contrast to her acquaintances, however, not only a single predictive course of the movement trajectory in Bahnplanungspro program or in the flow control is planned, but all ge according to the conditional program branch possible further Ver runs of several alternative movement trajectories in the path planning program or in the flow control over one, two or possibly further movement instructions ahead.

In general, the determination of the time at which an overrun must start at the latest from all start times of the two or more alternative second BeWe movement instructions, to which the respective individual overrun must begin at the latest, take place by a jewei for all individual blending movements lige period of time from the path parameters and the physical properties is automatically determined from all corre sponding durations of the individual blending movements of the two or more alternative second Bewegungsungsanwei solutions, the longest period is selected out, and on the basis of the current time and the herausselektier th longest period of the latest Time at which a sanding must begin, is determined. Knowing the latest time at which a Uber schleifbewegung must begin and the current time can also be determined whether for all alternative two movement instructions that can still be ensured due to the conditional program branch the execution of a smoothing motion. If this is not the case, that is, it is determined that the latest point in time at which a sanding movement must begin has already been deleted in terms of time, control technology and / or programming technology can be used to terminate, ie abort, or even stop a running sanding mode not begun smoothing mode does not even start.

It can additionally be provided that the transmission of the selected, pre-planned movement trajectory section to the motion control for carrying out a movement of the machine in such a way that the reference point of the machine moves correspondingly automatically to the selected, pre-planned movement trajectory section, only immediately bar is executed before the latest time or just before the latest time. Alternatively or in addition, querying and / or evaluating the triggering event may be carried out only immediately before the latest time or just shortly before the latest time. The queries can be, for example, a reading in of a sensor signal in the path planning program or the Maschinenbewe supply program. An evaluation can include a process in which a read-in sensor signal is converted, for example, and / or, for example, jointly evaluated and / or combined with other sensor signals. For example, it is possible to wait as long as possible, for example, for the input of external signals which may be necessary for the further execution of the program, for example in order to be able to control a process which is moved by the robot in a process-dependent manner. In general, those motion instructions of the machine movement Program, which are detected by the motion control to Ausfüh ren movement of the machine already transmitted, ge outgeplanten movement trajectories section are automatically provided with a label, such that when planned achievement of these movement instructions currency end of the expiration of the machine motion program this BEWE statements not be re-transmitted to the railway planning program.

In a variant, in the planned achievement of the movement instructions during the course of the Maschinenbewegungspro program, which are provided with the label, a transmis stuffs of the bases and / or target points of this gekennzeich Neten movement instructions to the railway planning program will be prevented and instead of those pre-planned BEWE movement trajectories Section, which has already been generated on the basis of these marked movement instructions, are transferred directly to the motion control.

The object of the invention is also achieved by a computer program product comprising a machine-readable carrier, is stored on the program code, which is readable by a machine and which trains and / or set up the machine to perform a method according to the invention be described if the program code of Ma machine is executed.

Concrete embodiments of the invention are explained in more detail in the following figure description with reference to the attached beige figures. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, where appropriate, individually or in other combinations of the features considered to provide general features of the invention. The figures show:

Fig. 1 is a schematic representation of an exemplary

Construction of a machine control, in particular robot control,

Fig. 2 is a schematic representation of an exemplary

Movement trajectory in the area of a conditional program branch,

Fig. 3 is a schematic representation of an exemplary

Method for blending across a conditional program branch,

Fig. 4 is a schematic representation of a modified

Method in which the target points of the second and further movement instructions are automatically fetched before the conditional program branch, and

Fig. 5 is a schematic representation of a modified

Method in which the target points of the second and further movement instructions are manually manually edited in a first Be wegungsanweisung before the conditional program branch.

FIG. 1 shows an exemplary control device 1 and drives M1-M6 controlled by it.

The drives M1-M6 may in particular comprise electric motors, which are controlled by the control device 1, in particular a drive control of the control device 1, in particular controlled special drivable. The control device 1 comprises in the case of the present ge showed embodiment of FIG. 1, a sequence control AS and a motion controller BS. The sequence control AS summarizes a program control PS. The control components may be combined in a common control unit or formed as separate control components and connected to each other via communication links. On the control device 1, in particular on the program control PS, at least one machine movement program MP can be stored and set up for execution. In that regard, the control device 1 may comprise a computer program product, which includes a machine-readable carrier, is stored on the program code, which is readable by the machine, in particular by a robot controller of the robot, so that the machine or the robot is formed and / or set up is to perform a method according to the invention, when the program code of the machine or the robot or its control device 1 is executed.

The machine motion program MP, which may be a robot program insofar, contains motion instructions e.g. PTP1, PTP2, PTP3, PTP4, according to which a predefined reference point in space is to be moved by the machine or the robot arm.

A path planning program BP of the control device 1, in particular special motion controller BS provides algorithms, models and / or calculation rules, the conditions based on the Bewegungsbewegweisun contained in the machine motion MP directly create a movement trajectory T (Figure 2) for the reference point or indirectly create, that motion profiles, in particular velocity profiles and / or acceleration profiles, are generated in an axis-related or Cartesian manner by the path planning program BP. The corresponding motion profiles, in particular speed Profiles and / or acceleration profiles are then transferred in particular in achsbezogener form to a movement design BA, which in turn drive the drives ie the motors of the machine or the robot arm on the drive level by means of drive controller AR or regulate. In particular, at the level of the path control BAS, a coarse interpolation G1 of the points to be controlled can take place, whereas, however, a further fine interpolation FI can already be carried out in the motion execution BA and / or in the drive controllers AR.

In the case of movement instructions, which can be carried out in principle with asynchronous axis movements or synchronous axis movements, the trajectory of the trajectory is not accurately planned in their exact trajectory, however, so far a motion planning takes place in which the speed profiles and / or the acceleration pro file the individual axis movements are well planned, resulting in a reproducible steti ger trajectory BV results depending on the respective starting point and the assumed target point or the assumed multiple successive target points, as illustrated by Fig. 2. As already mentioned, in a blending mode, the exact target points Z defined by the movement instructions are not approached exactly but, avoiding stopping in a parameterizable distance range, are bypassed by the respective target point Z in order to obtain a motion trajectory BT with a continuous speed profile ,

In FIG. 2, the movement trajectory BT is a graphic representation of the course of the movement which the reference point passes through in space. The movement trajectory BT is insofar the track on which the reference point moves when the machine or the robot is automatically controlled according to the machine movement program MP. A movement trajectory section BA generally represents a partial path of the entire movement trajectory. More specifically, according to the invention, the respective movement trajectory sections BA1, BA2, BA3 are understood to mean those parts of a plurality of possible movement trajectories T2.1, T2.2, T2.3. which in the machine motion program MP due to the conditional program branch PA (Fig. 3 - Fig. 5) may alternatively occur (ALT1, ALT2), as long as the conditional program branch PA triggering event has not yet took place and therefore it is not yet clear which of two or more possible movement trajectory sections BA1, BA2, BA3 actually come to execution.

The Fig. 2 schematically shows the determination of the earliest time point tl at which a rounding movement must start from all startup _Z eitpunkten tl, t2, t3, for example, three alternative second movement instructions to which each weils individual rounding motion must begin at the latest. This method is performed by pre-parameterizing a respective period of time for all individual rounding motions, selecting the latest time from all corresponding time periods of the individual rounding movements of the two or more alternative second movement instructions, and based on the current time tO and the selected time period tl, the latest time at which a sanding movement must begin, is determined.

Fig. 3 shows schematically the basic method for automatically generating a movement trajectory BT of a reference point of a machine to be automatically controlled, where the machine comprises drives M1-M6, which are designed to move the reference point of the machine in space, controlled by the control device 1, which is ausgebil det, the drives M1-M6 of the machine based on the automatically generated Bewegungsstrajektorie BT as a guide size to control by means of a flow control AL, wherein the movement trajectory BT based on at least one executed in egg nem smoothing mode first movement instruction PI and at least one of the first movement instruction PI fol lowing second movement instruction P2.1, P2.2 one of the Control device 1 executing machine motion program MP by means of a path planning program BP is automatically generated in the machine motion program MP in Ablaufrich device between the first movement instruction PI and a fol lowing second movement instruction P2.1, P2.2 is a program-related program branch PA, which depends on a triggering event a first alternative ALT1 ei ner second movement instruction P2.1 or at least a second alternative ALT2 a second movement instruction P2.2 pretends.

The method comprises the steps of determining the two or more target points of all alternative second move instructions P2.1, P3.1, P4.1 and P2.2, P3.2, P4.2 that are possible according to the conditional program branch PA,

- Determining the earliest time tl at which a smoothing movement must start, from all start _Z eitpunkten tl, t2, t3 of the two or more alternative second BeWe movement instructions P2.1, P2.2, to which each individuel le smoothing movement begin at the latest got to,

- The Übermitteins of the base to be looped the first movement instruction PI and the two or more target points of the two or more alternative second movement instructions P2.1, P2.2 to a path planning program BP, taking into account the base of the first movement instruction PI to be looped two or more alternative second movement instructions P2.1, P2.2 at least two or more pre-planned movement trajectory sections T2.1, T2.2, T2.3,

if the triggering event for the conditional program branch PA has taken place, selecting that predicted movement trajectory section T2.1 which corresponds to the alternative second movement instruction P2.1 of the conditional program branch PA corresponding to the triggering event, based on the triggering event is branched,

the transmission of the selected, pre-planned movement trajectory section BAI to the scheduler AL for executing a movement of the machine such that the reference point of the machine moves automatically according to the selected, pre-planned movement trajectory section BAI.

As can be seen from FIGS. 3 to 5, the conditional program branch PA can be found in at least one alternative determined by the triggering event, e.g. ALT1 and / or ALT2 addition to a second movement instruction P2.1, P2.2 in addition, for example, a third movement instruction P3.1, P3.2 and ei ne fourth movement instruction P4.1, P4.2 have.

Determining the earliest time point tl, at which an overflip movement must begin, then takes place from all start times t1 and t2 of the two alternative second movement instructions P2.1, P2.2, at which the respective individual smoothing movement must begin at the latest Include the respective further movement instructions P3.1, P3.2 and P4.1, P4.2 to the respective second movement instruction P2.1, P2.2. Transmitting the base to be looped of the first movement instruction PI and the two or more target points of the two alternative second movement instructions P2.1, P2.2 and the respective further movement instructions P3.1, P3.2 and P4.1, P4.2 takes place to the path planning program BP, the path planning program BP taking into account the to be looped base of the first movement instruction PI the two alternative second BeWe movement instructions P2.1, P2.2 and the other BEWE statement P3.1, P3.2 and P4.1, P4.2 corresponding two pre-planned movement trajectory sections T2.1 and T2.2 created.

The path planning program BP can thus be set up except for the first interpolation point of the first movement instruction P1, in addition at least one second interpolation point of the second movement instruction P2.1 P2.2 and / or every third or further interpolation point in the program sequence following Movement instructions P3.1, P3.2 and P4.1, P4.2 must be planned overly.

FIGS. 4 and 5 show a variant of the method, characterized by automatic or manual referencing in the machine movement program MP of the two or more alternative second movement instructions P2.1, P2.2 and / or the further movement instructions P3.1, P3 .2 and P4.1, P4.2, which follow the conditional program branch PA in Maschinenbewe supply program MP in the flow direction, in a running direction from before Ab the program branch PA occurring BEWE statement, in particular before the first Bewegungsungsanwei solution PI or in the first movement instruction PI which immediately precedes the conditional program branch PA in the machine motion program MP in the flow direction. 4 shows how the referencing takes place in that the machine movement program MP has an access function or access method Z, which includes formal parameters into which the second movement instructions P2.1, P2.2 to be referenced and / or further movement instructions P3 .1,

P3.2 and P4.1, P4.2 are entered as current parameters who the current parameters virtual return values bil, by the machine motion program MP as virtual call parameters of the second movement instructions P2.1, P2.2 and / or other movement instructions P3.1, P3.2 and

P4.1, P4.2 automatically make them readable before they are actually executed.

FIG. 5 shows how the referencing takes place in that the machine movement program MP has editable movement instructions A which include attributes in which the

Target points of the second movement instructions P2.1, P2.2 to be referenced and / or the further movement instructions P3.1, P3.2 and P4.1, P4.2 can be entered manually as actual parameters of the movement instruction PI.

Claims

claims

1. A method for automatically generating a movement trajectory (BT) of a reference point of a machine to be automatically controlled, the machine having drives (M1-M6) which are designed to move the reference point of the machine in space, controlled by a control device (FIG. 1), which is designed to control the drives (M1-M6) of the machine based on the au tomatically generated movement trajectory (BT) as Füh tion size by means of a motion control (BS), wherein the movement trajectory (BT) based on at least one in following a rounding mode first movement instruction (PI) and at least one of the first movement instruction (PI) following two movement instruction (P2.1, P2.2) of one of the STEU ervorrichtung (1) exporting Maschinenbewegungspro program (MP) by means of a path planning program (BP ) is generated automatically, in the Maschinenbewegungspro program (MP) in the flow direction between the first BEWE wassw icing (PI) and a subsequent second motion statement (P2.1, P2.2) there is a conditional program branching (PA) which, depending on a triggering event, a first alternative (ALT1) of a second movement instruction (P2.1) or at least one second alternative (ALT2) specifies a second movement instruction (P2.2, P2.3), comprising the steps:

Determining properties of the two or more alternative second movement instructions (P2.2, P2.3) that are possible according to the conditional program branch (PA),

- determining a time point (tl) at which an abrasive movement must begin no later than from all startup _Z eitpunkten (tl, t2, t3) of two or more al- ternative second movement instructions (P2.1, P2.2), to which the respective individual polishing operation must begin at the latest,

Transferring the properties of the first movement instruction (PI) and the two or more alternative second movement instructions (P2.1, P2.2) to a railway planning program (BP), taking into account the base point of the first movement instruction (PI) to be looped the two or more alternative second movement instructions (P2.1, P2.2) corresponding at least two or more pre-planned Bewegungsstraj ekto- rien sections (BAI, BA2, BA3) created,

if the triggering event for the conditional program branch (PA) has taken place, selecting the one of the pre-planned motion trajectory portion (BAI) corresponding to the triggering event the alternative second move instruction (P2.1, P2.2) of the conditional program branch (BA) PA), which is branched off due to the triggering event,

- transmitting the selected preprogrammed motion trajectory section (BAI) to the motion executor (BA) for performing a movement of the machine such that the machine's reference point automatically moves in accordance with the selected, preplanned motion trajectory section (BAI).

2. The method according to claim 1, characterized in that the conditional program branch (PA) in at least one determined by the triggering event alternative (ALTI, ALT2) in addition to a second movement instruction (P2.1, P2.2) additionally at least one further BEWE statement (P3.1, P3.2, P4.1, P4.2) and - Determining the time point (tl) at which a Uber schleifbewegung must start at the latest, from all start _Z eitpunkten the two or more alternative second movement instructions (P2.1, P2.2), to which each individual smoothing movement must begin at the latest , taking into account the respective further movement instructions (P3.1, P3.2, P4.1, P4.2) to the respective second movement instruction (P2.1, P2.2), and

a transmission of the properties of the first movement instruction (PI) to be multiplied and the two or more alternative second movement instructions (P2.1, P2.2) and the respective further movement instructions (P3.1, P3.2, P4.1, P4.2) to the Bahnplanungspro program (BP), wherein the path planning program (BP) taking into account the characteristics of the first movement instruction to be grounded (PI), the two or more alternative second movement instructions (P2.1, P2.2) and the respective further Bewegungsungsanweisun gene (P3.1, P3.2, P4.1, P4.2) corresponding at least two or more pre-planned Bewegungsstrajektorien- sections (T2.1, T2.2, T2.3) created.

3. The method according to claim 1, characterized in that the path planning program (BP) is set up, except for the first movement instruction (PI) to be looped, additionally at least one second movement instruction (P2.1, P2.2) and / or every third or further to program the following movement instruction (P3.1, P3.2, P4.1, P4.2) in the program sequence as an overslept.

4. The method according to any one of claims 1 to 3, gekennzeich net by automatic or manual homing in the machine motion program (MP) of the two or more alternative second movement instructions (P2.1, P2.2) and / or the further movement instructions (P3.1, P3.2, P4.1, P4.2), the conditional program branch (PA) in the machine movement program (MP) in the flow direction follow, in a running direction before the program branching (PA) occurring movement instruction, in particular before the first movement instruction (Pi) or in the first movement instruction (Pi), the conditional program grammer branch (PA) in the machine motion program (MP) in the flow direction immediately precedes.

5. The method according to claim 4, characterized in that the referencing takes place in that the machine movement program (MP) has access functions (Z) or access methods (Z) which contain formal parameters into which the second movement instructions to be referenced ( P2.1, P2.2) and / or further movement instructions (P3.1, P3.2, P4.1, P4.2) are entered as current parameters, which present parameters virtual return values, which are determined by the machine motion program ( MP) as virtual call parameters of the second movement instructions (P2.1, P2.2) and / or other movement instructions (P3.1, P3.2, P4.1, P4.2) automatically readable before their actual execution ma chen.

6. The method according to claim 4, characterized in that the referencing is carried out by the fact that the machine movement program (MP) has editable movement instructions (A) which comprise attributes in which the properties of the second movement instructions to be referenced (P2.1 , P2.2) and / or the further movement instructions (P3.1, P3.2, P4.1, P4.2) are entered manually as current parameters of the movement instructions.

7. The method according to any one of claims 4 to 6, characterized in that the determination of the properties of the two or more alternative second Bewegungsungsanwei solutions (P2.1, P2.2, P3.1, P3.2, P4.1, P4 .2), which are possible in accordance with the conditional program branch (PA), is effected by the two or more alternative second movement instructions (P2.1, P2.2) referenced in the first movement instruction (PI) and / or further movement instructions (P3.1, P3.2, P4.1, P4.2) are read based on the references in the first movement instruction (PI).

8. The method according to any one of claims 1 to 7, characterized in that the determination of the time point (tl) at which a smoothing movement must begin at the latest, from all start _Z eitpunkten of the two or more alter native second movement instructions (P2.1, P2.2), to which the respective individual smoothing movement has to begin later, is carried out by automatically determining a respective time duration from the path parameters and the physical properties for all individual smoothing motions, from all the corresponding periods of time (t1, t2, t3) of the individual rounding motions of the two or more alternative second movement instructions (P2.1, P2.2, P3.1,

P3.2, P4.1, P4.2) the longest period of time is selected, and based on the current time and the selected longest period of time, the latest time (tl) at which a rounding movement must begin is determined.

9. The method according to claim 8, characterized in that the transmission of the selected, pre-planned movement trajectory section (BAI) to the Bewegungssteu tion (BS) for carrying out a movement of the machine such that the reference point of the machine automatically moves according to the selected, pre-planned movement trajectory section (BAI), only immediately before the latest point in time (t1) or just shortly before the latest point in time (t1).

10. The method according to any one of claims 1 to 9, characterized in that a query and / or an evaluation of the triggering event only immediately before the latest time (tl) or only shortly before the latest time (tl) is executed.

11. The method according to any one of claims 1 to 10, characterized in that those movement instructions of the machine movement program (MP), the movement of the movement of the machine already transmitted to the Be, (BE) for carrying out a movement of the machine already transmitted, pre-planned BEWE movement trajectories section (BAI ), are automatically provided with a marking, such that when planned achievement of these movement instructions (P2.1, P2.2) during the course of the machine movement program (MP) these movement instructions (P2.1, P2.2) not once again to the railway planning program (BP).

12. The method according to claim 11, characterized in that when planned reaching the movement instructions during the course of the machine movement program (MP), which are provided with the marking, transmitting the interpolation points and / or target points of these designated movement instructions (P2.1, P2. 2) to the path planning program (BP) is prohibited and instead that vorgei ge pre-planned movement trajectories section (T2.1), which has already been generated on the basis of these marked movement instructions (P2.1, P2.2), is transferred directly to the motion control (BS).

A computer program product comprising a machine readable medium having program code readable by a machine and forming and / or establishing the machine for performing a method according to any one of claims 1 to 12 when the program code is from the machine is performed.