WO2019224288A1 - Détection de collisions fonction de la direction pour un manipulateur de robot - Google Patents

Détection de collisions fonction de la direction pour un manipulateur de robot Download PDF

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Publication number
WO2019224288A1
WO2019224288A1 PCT/EP2019/063298 EP2019063298W WO2019224288A1 WO 2019224288 A1 WO2019224288 A1 WO 2019224288A1 EP 2019063298 W EP2019063298 W EP 2019063298W WO 2019224288 A1 WO2019224288 A1 WO 2019224288A1
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WO
WIPO (PCT)
Prior art keywords
ext
task
axes
robot manipulator
execution
Prior art date
Application number
PCT/EP2019/063298
Other languages
German (de)
English (en)
Inventor
Sven Parusel
Saskia Golz
Original Assignee
Franka Emika 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 Franka Emika Gmbh filed Critical Franka Emika Gmbh
Publication of WO2019224288A1 publication Critical patent/WO2019224288A1/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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance
    • 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
    • G05B2219/39343—Force based impedance control
    • 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
    • G05B2219/39346—Workspace impedance control
    • 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
    • G05B2219/39347—Joint space impedance control
    • 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
    • G05B2219/39348—Generalized impedance control
    • 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
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40483—Find possible contacts

Definitions

  • the invention relates to a method for controlling an actuator-driven
  • Robot manipulator with an end effector and a device for controlling an actuator-driven robot manipulator with an end effector and a robot with such a device.
  • the object of the invention is to better detect collisions of a robot manipulator, in particular during the execution of a task by the robot manipulator, and thereby perform the task better.
  • a first aspect of the invention relates to a method for controlling an actuator-driven robotic manipulator having an end effector, in which the end effector executes a predetermined target movement and performs a task during execution of the target movement, comprising the steps of:
  • K ext has a vector F ext of at least one external force and / or a vector M ext of at least one external moment
  • K - detecting exceeds a predefined second limit value of a faulty execution of the task, if K ext in or near m axes of the coordinate system or if K ex t ⁇ K d it is, wherein K of a dependent of the task and exclusively in or around the m axis occurring expected and / or desired force Winder, where K of a vector F of the at least one expected and / or desired force and / or a vector M of the expected of at least one and / or has the desired torque, and wherein me N and min is established,
  • K DES is a dependent on the task and occur exclusively in, or to the m axis of expected and / or desired force Winder, in particular the pre-defined coordinate system and the m axis, and especially its orientation, defined on the basis of prior knowledge of K of the appropriately.
  • K des results advantageously by knowing the task and the expected during the execution of the task by interaction with an environment, acting on the robot manipulator mechanical forces and / or moments. Because the
  • K K of the (t).
  • the end effector is also referred to as such when it is not aktuiert itself, that is, even has no movable or otherwise controllable actuators.
  • the end effector can thus also simply be the distal end of the robot manipulator.
  • a kinematic data set for specifying the movement of the end effector of the robot manipulator is defined via a desired movement path, that is, by means of a sequence of desired positions of a specific reference point on the
  • Robot manipulator in particular a reference point on the end effector of the robot manipulator or on the distal end of the robot manipulator, and further advantageously by means of a speed associated with this desired sequence of positions and an acceleration of the reference point.
  • the term "desired movement” also includes a desired standstill of this reference point considered. Then, in this case of the desired standstill, a setpoint position that is constant over time and a setpoint speed of zero and one applies
  • External forces and moments are understood here as meaning those which do not arise through the drives which are connected to the robot manipulator.
  • the joints of the robot manipulator as drives on electric motors for generating moments between the robot members, which are each rotatably connected to each other by the joint.
  • These moments which can be equivalently converted into a force by dividing a corresponding radius to be considered, are, in contrast to the external forces and moments mentioned above, understood as internal forces and moments.
  • are preferred and
  • the vector standard is preferably the 2-norm, ie
  • the comparisons become advantageous for the m axes and the n axes after separation of the vectorial quantities in the
  • the determination of the external power winch K ext by means of sensors, in particular by means of force sensors and / or torque sensors.
  • the moment sensors are preferably already installed in joints of the robot manipulator together with the motor located in the respective joint.
  • force sensors are preferably arranged on a structural component of a robot member, wherein this type of force sensors determines a tension or a force in the respective robot member via the material expansion of the robot member and the known material constants, in particular of the modulus of elasticity.
  • electrical current sensors are used, which measure the electric current through an electric motor of the robot manipulator, in order to conclude from changes in the electric current to an abnormal change in torque at the motor and thus to an external force or external moment .
  • the motors themselves serve as torque sensors.
  • Detecting an undesired collision of the robotic manipulator consists, in particular, in detecting an undesired collision of the robot
  • the external force winder K ext is a vector which combines the detected forces F ext as a column vector and the detected moments M ext as a column vector and records them together in a preferably six-dimensional column vector, since both F ext and M ext, in particular in a Cartesian coordinate system recorded three entries for three mutually orthogonal spatial directions.
  • the components of this vector contain a zero in all entries for the external moments.
  • the predefined coordinate system has in particular N axes. These N axes are preferably such that an indication of a coordinate by means of the predefined coordinate system requires the specification of only one value on each individual axis of the coordinate system and also allows what is the case in particular for orthogonal axes.
  • m axis occurs in or near that of the expected and / or desired force Winder K of , not necessarily orthogonal to each other and preferably form an angle of ⁇ 90 ° to each other and thus more than six spatial directions (that is, more than three spatial directions in ignoring signs) by the m axes can be considered.
  • the external force winder is determined in a Winder coordinate system, which is generally independent of the predefined coordinate system in which the n axes and the m axes are defined. If both coordinate systems differ in particular in the location of their origin or also in their orientation, or even in their type, for example if the Winder coordinate system defines rotation coordinates with radius r and vectorial angle a and the predefined coordinate system is a Cartesian coordinate system, in particular the external force winder by coordinate system transformation from the Winder coordinate system in the
  • predefined coordinate system transformed in order to specify in the predefined coordinate system, a respective component of the external power winders in a respective axis of the predefined coordinate system.
  • the coordinate system transformation consists in particular of an image, preferably comprising a rotation matrix and a displacement vector to account for different origins of the respective coordinate systems.
  • the m axes differ from the n axes in that a force winder K des dependent on the task is expected and / or desired in or around the m axes.
  • This is expressed by the terms m ⁇ N and mi n, which say that the predefined coordinate system has in particular N axes whose
  • m ⁇ N and mi n mean that an axis can fall below either the m axes or below the n axes, but can not simultaneously be an axis of the m and the n axes. In other words, for a certain axis, a component of the power wind K of is expected or not.
  • This expected and / or desired force Winder K des in particular by a desired contact with the environment of the robot manipulator with an object from the environment to the state, for example, when editing an object by the end effector, when gripping an object by the end effector, when
  • this expected and / or desired force Winder K is the taken into account as described above, in particular a desired force Winder K of preferably from a force control of the robot manipulator is determined, and an expected force Winder K of the preferred estimation a contact force of a manipulation object is determined. Again applies to the expected and / or desired force Winder K of the
  • the axes are preferably to be considered separately in their respective direction for the comparison of the determined force winders with the respective limit value, that is to say that in a Cartesian coordinate system, a distinction is made in particular between a positive and a negative axis, for example a direction "+ x" and an order 180 ° rotated on the other hand running direction "-x".
  • a first limit value can thus be defined in a first direction of a Cartesian coordinate system, and a further first limit value can be defined with differing values for the negative direction of the first direction. This is particularly preferred
  • error mode generally indicates a signal, a control command or a
  • Control program that defines the driving of the robot manipulator in response to detecting an unwanted collision of the robot manipulator and / or an erroneous execution of the task.
  • Preferred embodiments of the failure mode are those listed below.
  • the failure mode is preferably that the execution of the task is aborted first and then a new attempt to execute the task is repeated with changed parameters.
  • the error mode consists in a termination of the instantaneous movement until the robot manipulator is at a standstill, that is to say in a so-called "safe stop”.
  • the execution of the error mode preferably consists in changing the parameters of one
  • Compliance control Such a compliance control generates an artificial spring-mass-damper model of the robotic manipulator and defines this model as desired behavior which the controller of the robotic manipulator is to produce.
  • this change of the compliance control in the failure mode is in one lower spring force constant with correspondingly reduced damping of the spring mass damper model.
  • Another alternatively preferred failure mode is an active avoidance of the external force Winder K ext .
  • a controller of the robot manipulator is actively controlled accordingly and with corresponding setpoints of position and / or speed and / or acceleration
  • the execution of the failure mode is to issue a warning to a user or to another person.
  • three general options are to be considered for the failure mode, namely an active reaction, a passive reaction, or a stopping of the movement of the
  • Robotemanipulators can be detected more accurately. This advantageous effect occurs in particular in that in or around the m axes of the predefined
  • the second threshold is selected to be higher than the first limit for the n axes in which no contact force is expected and / or desired.
  • a faulty execution of the task is the power Winder K ext determined by the expected and / or desired force Winder K of compensated and the compensated force Winder with the second threshold value is compared, at least for the detection.
  • the external force Winder K ext is determined by means of a pulse observer.
  • the impulse observer records those based on engine torques
  • Coordinate system and / or the m axes and / or the n axes time-varying and depending on the desired movement and / or the task.
  • the m axes and / or the n axes are advantageously adapted over this.
  • the first limit value and / or the second limit value are time-variant and dependent on the progress in the course of the execution of the task.
  • the first and / or the second limit value are predetermined by a user and are adaptable by the user.
  • the first and / or the second limit value are defined together with the task.
  • the first and / or the second limit value are determined and adapted by machine learning.
  • machine learning is preferably understood a parametric adaptation of the first limit value and / or the second limit value.
  • Adaptation is preferably carried out gradient-based or based on a general cost or energy function, the respective parameter or limit itself is at least square in the energy function or the cost function, so that when forming a time derivative of the cost or energy function of the value function decreases over time and thus has a convergence of the respective limit value or parameter to lower values of the cost function.
  • one or more statistical functions are used for machine learning, in particular to form an expected value for the first or second limit value depending on the past first or second limit values.
  • machine learning is preferably based on the use of neural networks or related trainable constructs which, in particular via superimposed and adapted sigmoid functions, map input / output behavior as input values depending on environmental parameters, and thus, in particular, environmental conditions and detects parameters of the respective task, determine a first and / or second threshold as the respective output value of the neural network.
  • machine learning relies on linear regression to statistically adjust the respective linear factors of a linear equation system such that the result of the linear system of equations provides the first or second threshold.
  • Another aspect of the invention relates to an apparatus for controlling an actuator driven robotic manipulator having an end effector, wherein the end effector is configured to perform a predetermined desired movement and to perform a task during the execution of the desired movement, comprising: a
  • Force determination unit used to determine a robot manipulator
  • K ext is executed during the execution of the desired movement, wherein K ext has a vector F ext at least one external force and / or a vector M ext at least one external moment
  • a computing unit which is executed to an undesirable collision of the robot manipulator when K ext in or around n axes of a predefined coordinate system with N axes exceeds a predefined first limit, where ne / V, and is designed to detect erroneous execution of the task, if K ext in or around m axes of the coordinate system exceeds a predefined second threshold value or if K ext ⁇ K of, where K is the one dependent on the object and occur exclusively in, or to the m axis of expected and / or desired force Winder, where K of a vector F of at least an expected and / or desired force and / or a vector M of the at least one t is an expected and / or desired torque, and where m ⁇ N and mi n, wherein the first threshold is
  • Another aspect of the invention relates to a robot with a device as described above and below.
  • Fig. 1 shows a method for controlling an actuator-driven
  • FIG. 2 shows a robot with a device for controlling an actuator
  • Fig. 1 shows a method for controlling an actuator-driven
  • a determination S1 of an external power wincher K ext introduced into the robot manipulator 1 takes place, wherein K ext has a vector F ext of at least one external force and / or a vector M ext of at least one external moment.
  • the external force Winder K ext is determined by means of a force and torque sensor.
  • Coordinate system with N axes exceeds a predefined first limit, where ne / V. Further, a detecting occurs S3 a faulty execution of the task, if K ext exceeds a predefined second limit value in or near m axes of the coordinate system or if K ext ⁇ K of, where K of a dependent of the task and exclusively in or around the m Axes expected expected and / or desired Kraftwinder is, and where m ⁇ N and mi n applies.
  • the first limit value is smaller than the second limit value.
  • a drive S4 of the robot manipulator 1 takes place in an error mode when an unwanted collision of the robot manipulator 1 and / or an erroneous execution of the task is detected.
  • the predefined coordinate system along with the m axes and the n axes, is time-variant and dependent upon an execution progress task.
  • the first and / or the second limit value are further specified by a user and can be adapted by the user during the execution of the task.
  • FIG. 2 shows a robot 200 having a device 100 for controlling an actuator-driven robot manipulator 1 with an end effector 3, wherein the end effector 3 is designed to execute a predetermined target movement and to execute a task during the execution of the target movement.
  • the end effector 3 in this case has a drill chuck and a drill clamped therein.
  • the device 100 has a force determination unit 5, which is used to determine one in the
  • Robot manipulator 1 introduced external power windlass K ext is executed during the execution of the desired movement, where K ext has a vector F ext at least one external force and / or a vector M ext at least one external moment. Furthermore, the device 100 has a computing unit 7 which is designed to detect an unwanted collision of the robot manipulator 1 if K ext in or around n axes of a predefined coordinate system with N axes exceeds a predefined first limit value, where ne / V, and detecting a faulty execution of the task, if K ext exceeds a predefined second limit value in or near m axes of the coordinate system or if K ext ⁇ K of, where K of a dependent of the task and exclusively in or around the m axis occurring expected and / or desired force winder, and wherein me / and mi n, where the first limit is less than the second limit.
  • N axes are considered: "x", where
  • 4.
  • a feed takes place as the desired motion for drilling by means of the arranged to the end effector 3 drill, and from the component, is carried out a contact force in the form of an expected and / or desired force Winders K of the axis , is - z "as the only m Axis defined.
  • the other axes "x", "y”, "z” are consequently n axes. However, remains from the force of the blast K, i.e.
  • the device 100 has a control unit 9, which is designed to, the
  • Robotemanipulator 1 in a failure mode to control when the computing unit 7 detects an undesired collision of the robot manipulator 1 and / or an erroneous execution of the task.
  • the error mode consists here in an abort of the

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

Abstract

L'invention concerne un procédé de commande d'un manipulateur (1) de robot entraîné par un actionneur et muni d'un effecteur terminal (5), selon lequel l'effecteur terminal (3) effectue un mouvement théorique prédéfini et accomplit une tâche pendant l'exécution du mouvement théorique, le procédé comprenant les étapes suivantes : - pendant l'exécution du mouvement théorique, détermination (S1) d'un torseur d'action externe Kext introduit dans le manipulateur (1) de robot, Kext présentant un vecteur Fext d'au moins une force externe et/ou un vecteur Mext d'au moins un couple externe, - détection (S2) d'une collision indésirable du manipulateur (1) de robot si Kext dépasse une première valeur limite prédéfinie dans ou autour de n axes d'un système de coordonnées prédéfini à N axes (n∈N), - détection (S3) d'une exécution défectueuse de la tâche si Kext dépasse une seconde valeur limite prédéfinie dans ou autour de m axes du système de coordonnées ou si Kext < Kdes, Kdes étant un torseur d'action attendu et/ou souhaité fonction de la tâche et se produisant uniquement dans ou autour des m axes (m∈N et m∉n), la première valeur limite étant inférieure à la seconde valeur limite, - et activation (S4) du manipulateur (1) de robot en mode de défaillance si une collision indésirable du manipulateur (1) de robot et/ou une exécution défectueuse de la tâche est détectée.
PCT/EP2019/063298 2018-05-23 2019-05-23 Détection de collisions fonction de la direction pour un manipulateur de robot WO2019224288A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018112370.1 2018-05-23
DE102018112370.1A DE102018112370B4 (de) 2018-05-23 2018-05-23 Richtungsabhängige Kollisionsdetektion für einen Robotermanipulator

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Publication Number Publication Date
WO2019224288A1 true WO2019224288A1 (fr) 2019-11-28

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WO (1) WO2019224288A1 (fr)

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DE102021108416B3 (de) 2021-04-01 2022-03-24 Franka Emika Gmbh Kraftregelung mit Dämpfung an einem Robotermanipulator
DE102021113636B3 (de) 2021-05-26 2022-11-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Bestimmen externer Interaktionskräfte und/oder Interaktionsmomente eines Roboters, Roboter und Computerprogrammprodukt
CN113459095B (zh) * 2021-06-23 2022-12-06 佛山智能装备技术研究院 一种机器人碰撞响应方法

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