WO2021058502A1 - Régulation d'un manipulateur de robot - Google Patents

Régulation d'un manipulateur de robot Download PDF

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Publication number
WO2021058502A1
WO2021058502A1 PCT/EP2020/076464 EP2020076464W WO2021058502A1 WO 2021058502 A1 WO2021058502 A1 WO 2021058502A1 EP 2020076464 W EP2020076464 W EP 2020076464W WO 2021058502 A1 WO2021058502 A1 WO 2021058502A1
Authority
WO
WIPO (PCT)
Prior art keywords
control unit
setpoint
value
data rate
values
Prior art date
Application number
PCT/EP2020/076464
Other languages
German (de)
English (en)
Inventor
Andreas SPENNINGER
Dmitrij Forssilow
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 WO2021058502A1 publication Critical patent/WO2021058502A1/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
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42091—Loop combinations, add a second loop, cascade 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42277—If no position command in a period, servo to rest position, shut off power
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42293—Regenerate faulty feedback by using previous value, substitute

Definitions

  • the invention relates to a robot manipulator with a plurality of links connected to one another by joints and with a control unit, as well as a method for regulating a robot manipulator with a plurality of links connected to one another by joints.
  • the object of the invention is to improve the control of a robot manipulator and, in particular, to make it safer.
  • a first aspect of the invention relates to a robot manipulator with a plurality of links connected to one another by joints and with a control unit, at least one of the joints having an actuator and a control unit for regulating the actuator, the control unit being designed to perform a first regulating cycle to determine a first setpoint for the control unit and to transmit the first setpoint to the control unit at a first data rate, the control unit being designed to determine a second setpoint at a second data rate from the first setpoint and a second control cycle at the second data rate to track the second setpoint, the second data rate being greater than the first data rate, the control unit being designed to hold values of the second setpoint between two values of the first setpoint in the case of at least one of the following events to determine the most recent value of the first target variable:
  • the control unit is a central control unit of the robot manipulator, which can be arranged on or in the robot manipulator itself, in particular on the base of the robot manipulator, or can only be connected to the robot manipulator.
  • control unit is still seen as part of the robot manipulator, since it does not matter for the execution of the regulation whether the control unit is physically removed from the robot manipulator or is arranged on it, since the data connection between the control unit and the respective actuator and of the respective control unit is decisive.
  • the control unit is also called the "master" in order to emphasize the hierarchical structure of the cascade control.
  • the robot manipulator is controlled by a cascaded control, the control unit executing the first control cycle at a first data rate that forms the outer loop of the cascade controller up to the control of the joint.
  • the control unit not only serves to output a pilot control signal in the literal sense of the expression "control”, but also forms a full-fledged controller with an optional pilot control signal and a scalar or vectorial feedback loop.
  • the concept of tracking the second setpoint means that the second setpoint acts as a command for the controller.
  • the aim of the controller is that the respective actual value follows the command.
  • the respective control cycle is carried out on a control loop which has an optional pilot control signal or command with feedback from directly recorded sensor signals or at least indirectly from signals reconstructed from sensor signals.
  • the outer control loop corresponds to that of the control unit
  • the inner control loop corresponds to that of the control unit
  • the outer control loop outputs manipulated variables that are direct commands for the inner loop, namely those of the respective control unit.
  • the control unit of an actuator is therefore used, in particular, to correctly execute the first setpoint value specified by the control unit.
  • the control unit is thus assigned directly to the respective actuator and is therefore advantageously also arranged on the corresponding joint on which the actuator is arranged.
  • the invention can thus be carried out on a robot manipulator with a plurality of actuators with respective control units, a common control unit outputting a vector of setpoint values and each component of this vector representing a first setpoint value for a respective control unit.
  • control cycle shows that a respective control loop is carried out in a large number of successive journals, i.e. the corresponding arithmetic operations are carried out, in particular the difference between the target value and the actual value or a time derivative or integration or a dynamically filtered version thereof is formed becomes.
  • the control unit and also the respective control unit preferably work in discrete magazines, the time steps advantageously being selected so that the maximum computing time that occurs lies with a certain safety margin below the length of the time steps defined by the respective data rate.
  • the frequency with which the control unit determines and outputs the first setpoint is described by the first data rate.
  • the first data rate is preferably in the range from 100 Hz to 1000 Hz, that is to say between 100 and 1000 values of the first setpoint value are preferably output by the control unit every second. These values of the first setpoint are transmitted to the respective control unit at this frequency.
  • the respective control unit in turn executes a control loop through the execution of the second control cycle.
  • the control unit uses the first setpoint as a system input.
  • the data rate of the control unit is greater than the data rate of the control unit, so that here more calculations take place every second than in the control unit.
  • the second data rate of the control unit is higher than the first data rate of the control unit.
  • control unit has a data rate of 1 kHz and the control unit has a data rate of 4 kHz, then three further values of the second desired variable are to be determined indirectly for each value of the first desired variable, since at the times of these three values the second target value does not exist at the same point in time a respective value of the first target value.
  • the most recent value of the first setpoint is kept constant and copied to the other values of the second setpoint until a new value of the first setpoint is available.
  • the second case in addition to the most recent value of the first desired variable, a change over time in the past course of the first desired variable is considered in order to form the further values of the second desired variable from this.
  • the first case is used if at least one of the following conditions is met:
  • a discrete change in the structure of the first control cycle occurs in particular when a controller structure of the control unit is changed or certain structural elements are used differently than at previous times.
  • Such a structural change in the first control cycle can therefore consist in connecting or disconnecting certain branches of the control loop, for example in reducing the number of components of the commanded vector, for example from path planning.
  • a change in a parameter of the first control cycle can be a new initialization of an integrator, a filter, or a change in a gain, a limitation or a modeled dead time.
  • the inconsistency when comparing the current status of a counter in the control unit with the current status of a counter in the control unit occurs in particular when the control loop of the control unit or the control loop of the control unit leaves nominal operation and "freezes" so that one of the two counters does not further correctly incremented a check number over a reference time.
  • the respective counter offers a safety function that is easy to monitor and control, because if at least one of the control loops does not continue to work correctly and the software fails, the respective counter will also not correctly determine its check number.
  • the comparison of the two values of the counters is preferably carried out by the control unit, which is designed accordingly.
  • control unit which is designed accordingly, monitors the ratio of the second data rate to the first data rate. In particular, when this ratio exceeds a predefined nominal limit value, there is an indication that the control unit is frozen in terms of data technology while the control unit continues to run in its sequence.
  • the most recent value of the first target variable is in particular the latest available value from the data stream of the first target variable, the value of the first target variable following the most recent value of the first target variable naturally not yet being available at a current point in time.
  • control unit is designed to determine values of the second desired variable between two values of the first desired variable on the basis of the most recent value of the first desired variable and a first time derivative of the first desired variable.
  • the current course of the first setpoint variable is advantageously considered during a second step between two values of the first setpoint variable and extrapolated to the next time step.
  • the current gradient of the time profile of the first setpoint is advantageously also considered in order to use a better extrapolation for the higher-frequency control loop of the control unit.
  • control unit is designed to determine the first time derivative of the most recent value of the first desired variable by determining a slope between the most recent value of the first desired variable and the second most recent value of the first desired variable.
  • time derivative is determined from two interpolation points from the time profile of the first setpoint variable, namely the most recent value of the first setpoint variable and the value of the first setpoint variable that precedes the most recent value.
  • control unit is designed to determine values of the second setpoint between two values of the first setpoint on the basis of a second time derivative of the most recent value of the first setpoint.
  • the second time derivative describes in particular a curvature of the time curve of the first target value, which can be combined with the first derivative as in the previous embodiments or, alternatively, preferably only with the most recent value of the first target value in order to add the other values to the second target value determine.
  • curvature of the time profile of the first setpoint variable provides a non-linear extrapolation for determining the further values of the second setpoint value, whereby a smoother time profile of the second setpoint value is obtained.
  • control unit is designed to use a vector of command variables to execute the first control cycle, the vector of command variables having at least three components and at least one of the three components being able to be generated by the control unit from the remaining specified components.
  • the control loop of the control unit has to generate more or fewer command variables itself when this number changes, there is a change in the structure in the first control cycle.
  • the extrapolation is thus stopped and the most recent value of the first desired variable is held for the further values of the second desired variable until a further current value of the first desired variable is available.
  • control unit is designed to send a binary signal as information about the structure and / or a parameter of the first control cycle and when the structure and / or the parameters of the first control cycle change, the binary signal is switched and the binary signal is transmitted to the control unit, the control unit being designed to provide values of the second setpoint when the binary signal changes to determine between two values of the first setpoint by holding the most recent value of the first setpoint.
  • the binary signal can only assume two values, the control unit being designed to keep the value of the binary signal constant as long as neither the parameter of the first control cycle nor a structure of the first control cycle is changed.
  • the binary signal is set to the opposite value, which creates a discrete jump in the binary signal and the time derivative of the binary signal approaches infinity.
  • the control unit preferably transmits the binary signal to the control unit, as a result of which information is available to the control unit that such a change is currently taking place or has just taken place in the control unit.
  • the most recent value of the first setpoint value is held until the next value of the first setpoint value in order to thus determine the second setpoint value.
  • the actuator is an electric motor, the first setpoint being at least one of the motor position, motor speed, joint torque, derivation of the joint torque, motor torque, or a combination thereof.
  • the joint torque is in particular the torque present on an output side of a transmission arranged on the output side of the motor.
  • the actuator is an electric motor, the second setpoint being at least one of the motor position, motor speed, joint torque, derivation of the joint torque, motor torque, current in the motor, or a combination thereof.
  • control unit is designed to determine the first setpoint value from a planned trajectory of the robot manipulator.
  • Another aspect of the invention relates to a method for regulating a robot manipulator with a plurality of links connected to one another by joints, the robot manipulator being connected to a control unit and at least one of the joints has an actuator and a control unit for regulating the actuator, comprising the steps:
  • 1 shows a robot manipulator according to an embodiment of the invention
  • 2 shows a method according to an exemplary embodiment of the invention
  • the control unit 5 executes a first control cycle, the output of which is a first setpoint value for the control unit 9.
  • the output of the control unit 5 corresponds to the input of the control unit 9.
  • the first setpoint is transmitted to the control unit 9 at a first data rate, the control unit 9 determining a second setpoint at a second data rate from the first setpoint.
  • the second setpoint is the command for a second regulation cycle of the control unit 9.
  • the control unit 9 checks the following conditions and, if at least one of the conditions is present, it determines values of the second setpoint between two values of the first setpoint by folding the most recent value of the first setpoint:
  • the control unit 9 determines the values of the second setpoint between two values of the first setpoint based on the most recent value of the first setpoint and based on a first time derivative of the first setpoint, determined by the most recent and the second most recent value of the first setpoint.
  • the respective courses are explained in more detail in FIG. 3.
  • the first setpoint is a vectorial one with the components: motor position, motor speed, joint torque, derivation of the Joint torque. In principle, these components also have the second target variable, but with a data rate that is changed as described above.
  • FIG. 2 shows a method for regulating a robot manipulator 1 with a plurality of links connected to one another by joints 3, the robot manipulator 1 being connected to a control unit 5 and at least one of the joints 3 having an actuator 7 and a control unit 9 for regulating the actuator 7 comprising the steps:
  • Filled circles with a small diameter at T, _i, T 1, and T i + i symbolize the values of the first setpoint, and empty circles with a larger diameter symbolize the values of the second setpoint.
  • These points in time of the values of the first setpoint value correlate with the first data rate.
  • a respective time range is considered with the discrete points in time at the end of a time step: T, _i ... T, ... T i + 1 , the point in time T, being regarded as the most recent point in time and the point in time T i + 1 in the future lies.
  • the time step between the times T, _i and T is shown compressed in "A".

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur de robot (1) comportant une articulation (3) et une unité de commande (5), l'articulation (3) comportant un actionneur (7) régulé par une unité de contrôle (9). L'unité de commande (5) détermine une première grandeur de consigne ayant un premier débit de transfert de données pour l'unité de contrôle (9) et celle-ci détermine une seconde grandeur de consigne ayant un second débit de transfert de données, le second débit de transfert de données étant supérieur au premier débit de transfert de données. A cet effet, dans des cas prédéfinis, des valeurs de la seconde grandeur de consigne comprises entre deux valeurs de la première grandeur de consigne sont déterminées par maintien de la valeur la plus récente de la première grandeur de consigne et sinon des valeurs de la seconde grandeur de consigne sont déterminées au moyen de la valeur la plus récente de la première grandeur de consigne et au moyen d'une variation de la première grandeur de consigne.
PCT/EP2020/076464 2019-09-26 2020-09-23 Régulation d'un manipulateur de robot WO2021058502A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019125992.4A DE102019125992B3 (de) 2019-09-26 2019-09-26 Regelung eines Robotermanipulators
DE102019125992.4 2019-09-26

Publications (1)

Publication Number Publication Date
WO2021058502A1 true WO2021058502A1 (fr) 2021-04-01

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Application Number Title Priority Date Filing Date
PCT/EP2020/076464 WO2021058502A1 (fr) 2019-09-26 2020-09-23 Régulation d'un manipulateur de robot

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DE (1) DE102019125992B3 (fr)
WO (1) WO2021058502A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19500738C1 (de) * 1995-01-12 1996-04-11 Siemens Ag Regelanordnung und Regelverfahren für einen motorisch betriebenen Gelenkarm
EP0992397A1 (fr) * 1998-10-06 2000-04-12 Valeo Vision Dispositif de commande d'un moteur électrique pas a pas de vehicule

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3811072B2 (ja) * 2002-01-18 2006-08-16 本田技研工業株式会社 移動ロボットの異常検知装置
DE10342471B4 (de) * 2003-09-15 2007-08-16 Dürr Systems GmbH Regeleinrichtung für einen mehrachsigen Roboter
DE102005048390A1 (de) * 2005-10-10 2007-04-19 Siemens Ag Verfahren und Einrichtung zur Bewegungsführung eines bewegbaren Maschinenelementes einer Maschine
DE102013016019B3 (de) * 2013-09-25 2015-03-19 Festo Ag & Co. Kg Verfahren zum Betreiben eines mehrgliedrigen Manipulators
DE102015012779A1 (de) * 2015-10-05 2017-04-27 Günther Zimmer Greifvorrichtung mit integriertem Servoregler
EP3540549A1 (fr) * 2018-03-15 2019-09-18 Siemens Aktiengesellschaft Procédé et système de limitation d'un mouvement mécanique et/ou d'une zone d'action d'une machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19500738C1 (de) * 1995-01-12 1996-04-11 Siemens Ag Regelanordnung und Regelverfahren für einen motorisch betriebenen Gelenkarm
EP0992397A1 (fr) * 1998-10-06 2000-04-12 Valeo Vision Dispositif de commande d'un moteur électrique pas a pas de vehicule

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DE102019125992B3 (de) 2020-12-03

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