WO2021130193A1 - Erzeugung eines steuerprogramms für einen robotermanipulator - Google Patents
Erzeugung eines steuerprogramms für einen robotermanipulator Download PDFInfo
- Publication number
- WO2021130193A1 WO2021130193A1 PCT/EP2020/087557 EP2020087557W WO2021130193A1 WO 2021130193 A1 WO2021130193 A1 WO 2021130193A1 EP 2020087557 W EP2020087557 W EP 2020087557W WO 2021130193 A1 WO2021130193 A1 WO 2021130193A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot manipulator
- robot
- manipulator
- commands
- time series
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36231—Translate, convert machine independent to machine dependent program
-
- 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
- G05B2219/40599—Force, torque sensor integrated in joint
-
- 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
- G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
Definitions
- the invention relates to a method for generating a control program for a second robot manipulator on the basis of empirical data from an execution of a given application by a first robot manipulator and a robot system with a first control unit and a second control unit for executing the method.
- the object of the invention is to simplify the generation of a control program for carrying out a task by means of a robot manipulator.
- a first aspect of the invention relates to a method for generating a control program for a second robot manipulator on the basis of empirical data from an execution of a given application by a first robot manipulator, comprising the steps:
- trajectory data include kinematic data with respect to a reference point of the first robot manipulator or with respect to the joint angle of the first robot manipulator and wherein the force winder data include forces and / or moments acting between the first robot manipulator and an object from the environment
- the step is preferably also carried out:
- the first robot manipulator and the second robot manipulator are not necessarily constructed similarly or identically, but can also have different technical solutions and designs.
- the first robot manipulator is in particular connected to such a (first) control unit which is designed to execute a first control program in order to execute the specified application.
- This first control program is optimized in particular for the first robot manipulator, that is, it takes into account the technical conditions and structural solutions on the first robot manipulator, so that the application can even be carried out by the first robot manipulator, the first control program also being optimized in particular for the structural conditions of the first robot manipulator is. All the steps of the method according to the first aspect of the invention are preferably carried out by the first control unit. Alternatively, the generation of the control program for the second robot manipulator is preferably carried out by a second control unit different from the first.
- the specified application is carried out by the first robot manipulator.
- Possible applications are in particular moving an object from one location to another, merely gripping the object, selecting an object from a large number of objects, gripping the selected object, machining a surface of a workpiece, or others typical of a robot manipulator Tasks.
- a time series of trajectory data is determined in particular by the first control unit. This is done on the basis of the sensor values from joint angle sensors of the first robot manipulator. These joint angle sensors are designed in particular to detect and output a respective angle between two members of the first robot manipulator that are connected to one another by a common joint. This takes place repeatedly, in particular, in discrete time steps and at high frequencies, so that a time series of discrete joint angle data from the first robot manipulator is available.
- a pose of the first robot manipulator is known at any point in time, from which a trajectory of a reference point of the first robot manipulator can be determined in Cartesian coordinate systems, in particular with respect to a first fixed coordinate system.
- the reference point of the first robot manipulator is preferably arranged at a distal end, and particularly preferably at an end effector, of the first robot manipulator.
- the term trajectory also includes a trajectory, that is, the purely geometric information of a movement, either purely with regard to the joint angle or (also) with regard to a Cartesian path of the reference point of the first robot manipulator.
- the term trajectory also contains time information, so that a time is also assigned to each location of the geometric trajectory, and the information on the geometric course of the trajectory also provides information about the speed and / or acceleration of the reference point while this geometric trajectory is being followed.
- Cartesian information of a path curve or a trajectory based on the joint angle information and in particular one or more forces and / or moments that arise between the first robot manipulator and an object are recorded by the first robot manipulator the environment of the robot manipulator.
- the latter is done in particular by the sensor unit for detecting forces and / or torques, preferably torque sensors in the joints or strain gauges on the robot structure, so that a time series of force-related interactions between the first robot manipulator and the environment are recorded.
- the robot commands are therefore abstracted function blocks of a control program, which in principle should be executed independently of the architecture of the robot manipulator currently in use. They therefore basically correspond to the commands of an outermost loop of a regulation of the respective robot manipulator when executing the control program.
- a specific control program for the second robot manipulator is then generated on the basis of this abstracted information, the complete control program for the second robot manipulator taking into account the structural features of the second robot manipulator, in particular how many joints the second robot manipulator has, whether it is a redundant or a unique second robot manipulator is what type of gripper or generally type of end effector is currently arranged on the second robot manipulator, etc ..
- a control program is provided for the second robot manipulator on the basis of the empirically acquired data during the execution of the application by the first robot manipulator, which already contains the functionally essential information in the form of robot commands, and so further sensors for the second robot manipulator and for the application to be executed by him and his control program, in particular to detect objects in the vicinity of the second robot manipulator, and, in general terms, to adapt the control program for the second robot manipulator to the current situation.
- the application is executed on the basis of the robot commands provided, which contain the empirically determined information about the execution of the application by the first robot manipulator.
- the generation of the control program for the second robot manipulator is therefore advantageously significantly accelerated and simplified, since this is based on Information from executions of the applications that have already been carried out can be used, regardless of whether the first robot manipulator is structurally identical to the second robot manipulator, or whether these two differ structurally or in their configuration or in their software.
- the robot commands include at least one from the following categories:
- At least two consecutive robot commands from different categories are determined, a smooth transition between the two consecutive categorically different robot commands being determined.
- the smooth transition has the effect, in particular, that the selected robot commands are transferred to one another in a smooth transition.
- a transition from impedance control and so-called "visual servoing" is generated as a weighting function using a smooth function curve without jumps.
- the smooth transition takes place by means of a constant and predetermined function curve that is time-dependent over the time of the transition.
- a continuous function curve is in particular without jumps and kinks, and in particular has a strictly monotonically falling or rising curve over the duration of the transition.
- Such a function profile advantageously provides a particularly smooth transition between the applications of the robot commands.
- the robot commands are determined from the stored time series by non-linear optimization. In the case of non-linear optimization, in particular a cost function is used which reproduces the difference between the time series hypothetically produced by the selected commands and the time series actually carried out.
- Such a cost function is then minimized by methods of non-linear optimization, in particular gradient-based methods, evolution methods, genetic algorithms, methods of quadratic optimization, etc., so that in particular those robot commands are selected that lead backwards to time series that also correspond to the actual time series. This is how the most suitable robot commands are selected.
- the robot commands are determined from the stored time series by applying a predetermined artificial neural network, an input variable of the artificial neural network using the saved time series and an output variable of the artificial neural network being one selected from a plurality of at least structurally prescribed ones Robot commands is, with parameters of the respectively selected one of the specified robot commands being adapted on the basis of the stored time series.
- time series of trajectory data are additionally determined by a camera unit.
- the camera unit is preferably arranged on the robot manipulator itself.
- the camera unit is also preferably a stereo camera unit, so that spatial information about the trajectory and / or the trajectory of the reference point of the robot manipulator is advantageously captured by the camera unit.
- the information from the camera unit is preferably merged with the information from the joint angle sensors or added to them.
- the camera unit is an external camera unit.
- the external camera unit is preferably arranged physically separated from the first robot manipulator on a frame or on another carrier in the vicinity of the first robot manipulator.
- Information is also advantageous of sensors not owned by the robot are available, which can be optimally supplemented with the robot’s own sensors to form more reliable data sources overall.
- the structural features of the first robot manipulator and / or of the second robot manipulator include at least one of the following:
- Another aspect of the invention relates to a robot system with a first control unit and a second control unit, which together serve to generate a control program for a second robot manipulator of the robot system on the basis of empirical data of an execution of a given application by a first robot manipulator of the robot system
- the first Control unit for controlling the first robot manipulator is designed to execute the specified application, and is designed to determine time series of trajectory data by means of joint angle sensors of the first robot manipulator and / or time series of power winder data by means of a sensor unit of the first robot manipulator while the specified application is being executed, and the to store determined time series in a memory unit
- the Trajectory data include kinematic data with respect to a reference point of the first robot manipulator and / or with respect to the joint angle of the first robot manipulator
- the force winder data include forces and / or moments acting between the first robot manipulator and an object from the environment
- the first control unit for determining robot commands the stored time series and storage of the determined robot commands is carried out in the
- Robot manipulator based on empirical data of an execution of a predetermined application by a first robot manipulator according to an embodiment of the invention
- FIG. 2 shows a robot system for carrying out the method according to FIG. 1.
- FIG. 1 shows a method for generating a control program for a second robot manipulator 2 on the basis of empirical data from an execution of a predetermined application by a first robot manipulator 1.
- the following description of the method also relates to the robot system 10 of FIG. 2. Both figures can therefore be used for understanding, in particular the following mentioned reference numerals also relate to both FIG. 1 and optionally to FIG. 2.
- the specified application is executed S1 by the first robot manipulator 1.
- the Application concerns the excavation of a pointed object from a cylindrical box.
- a control program is specified for the first robot manipulator 1, which is adapted to the structural conditions of the first robot manipulator 1, in particular to the number of joints, the geometry of the links and the configuration with its gripper.
- the next step is to determine S2 of time series of trajectory data by means of joint angle sensors 3 of the first robot manipulator 1 and of time series of Kraftwinder data by a sensor unit 5 of the first robot manipulator 1, the joint angle sensors 3 together with the torque sensors of the sensor unit 5 for detection of forces and moments are accommodated in a respective joint of the first robot manipulator 1.
- These determined time series are stored in a memory unit 7.
- the trajectory data include data on a trajectory with respect to a reference point of the first robot manipulator 1 of the first robot manipulator 1 by transforming the joint angles into a Cartesian position profile of the reference point at the end effector of the first robot manipulator 1.
- the Kraftwinder data comprise the forces and moments acting between the first robot manipulator 1 and the pointed object. Furthermore, the determination S3 of robot commands from the stored time series and the storage of the determined robot commands in the memory unit 7, the robot commands being basic elements of a control program for a respective robot manipulator without reference to the structural conditions of the first robot manipulator 1.
- the composite robot commands include the specified trajectory of the reference point of the first robot manipulator 1 from the box to a specified end point, an acceleration of the reference point on the trajectory, as well as a force and a moment that the end effector exerts on the pointed object at the reference point.
- the composition of these robot commands results in a functional sequence of the application that is independent of the structural features of the first robot manipulator 1 mentioned above.
- the robot commands are determined through the use of an artificial neural network in that all time series are fed to the artificial neural network as an input variable and the combination of the robot commands follows as an output by executing the artificial neural network.
- Generation S4 then takes place of the control program for the second robot manipulator 2 on the basis of the stored robot commands and on the basis of structural features of the second robot manipulator 2. Further explanations of these can be found in the description of FIG. 2.
- the Robot manipulator 1 is a conventional one-arm robot manipulator without redundant degrees of freedom.
- the second robot manipulator 2 is a two-arm system with two robot arms. The structural conditions of the two robot manipulators 1, 2 therefore differ from one another.
- the first control unit 11 is arranged on the first robot manipulator 1 and is used to control the first robot manipulator 1 to execute S1 the specified application, as well as to generate time series of trajectory data by means of joint angle sensors 3 of the first robot manipulator 1 and time series of power winder data by means of a To determine the sensor unit 5 of the first robot manipulator 1, and to store the determined time series in a memory unit 7. Furthermore, the first control unit 11 determines the robot commands from the stored time series and stores these determined robot commands in the memory unit 7, which is part of the first control unit 11.
- the second control unit 12 is arranged on the second robot manipulator 2 and is used to generate the control program for the second robot manipulator 2 on the basis of the stored robot commands and on the basis of structural features of the second robot manipulator 2.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/784,916 US20230001580A1 (en) | 2019-12-27 | 2020-12-22 | Generating a control program for a robot manipulator |
CN202080083951.3A CN114746223A (zh) | 2019-12-27 | 2020-12-22 | 生成用于机器人机械手的控制程序 |
JP2022539640A JP2023508490A (ja) | 2019-12-27 | 2020-12-22 | ロボットマニピュレータの制御プログラムの生成 |
KR1020227025275A KR20220116289A (ko) | 2019-12-27 | 2020-12-22 | 로봇 조작기를 위한 제어 프로그램 생성 |
EP20839027.8A EP4081373A1 (de) | 2019-12-27 | 2020-12-22 | Erzeugung eines steuerprogramms für einen robotermanipulator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019135810.8 | 2019-12-27 | ||
DE102019135810.8A DE102019135810B3 (de) | 2019-12-27 | 2019-12-27 | Erzeugung eines Steuerprogramms für einen Robotermanipulator |
Publications (1)
Publication Number | Publication Date |
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WO2021130193A1 true WO2021130193A1 (de) | 2021-07-01 |
Family
ID=72840129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2020/087557 WO2021130193A1 (de) | 2019-12-27 | 2020-12-22 | Erzeugung eines steuerprogramms für einen robotermanipulator |
Country Status (7)
Country | Link |
---|---|
US (1) | US20230001580A1 (de) |
EP (1) | EP4081373A1 (de) |
JP (1) | JP2023508490A (de) |
KR (1) | KR20220116289A (de) |
CN (1) | CN114746223A (de) |
DE (1) | DE102019135810B3 (de) |
WO (1) | WO2021130193A1 (de) |
Citations (3)
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DE202017105598U1 (de) * | 2016-09-15 | 2018-05-24 | Google LLC (n.d.Ges.d. Staates Delaware) | System zum tiefen Verstärkungslernen für Robotermanipulation |
DE202019101831U1 (de) * | 2019-04-01 | 2019-05-13 | Franka Emika Gmbh | System zum Entwickeln von Steuerprogrammen für Robotermanipulatoren |
EP3528070A1 (de) * | 2018-02-15 | 2019-08-21 | Omron Corporation | Steuerungssystem für master und slave, steuerungsverfahren und programm |
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JP5743495B2 (ja) * | 2010-11-05 | 2015-07-01 | キヤノン株式会社 | ロボット制御装置 |
CN102662350B (zh) * | 2012-05-31 | 2013-11-27 | 东南大学 | 主从式多机器人协作系统的轨迹示教与规划方法 |
US9120226B2 (en) * | 2012-10-23 | 2015-09-01 | Lincoln Global, Inc. | System and method for remotely positioning an end effector |
US9694495B1 (en) * | 2013-06-24 | 2017-07-04 | Redwood Robotics Inc. | Virtual tools for programming a robot arm |
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WO2018153474A1 (en) * | 2017-02-24 | 2018-08-30 | Abb Schweiz Ag | Robot system, method for programming a robot manipulator and control system |
JP2019188561A (ja) * | 2018-04-27 | 2019-10-31 | 株式会社東芝 | 物品把持装置及び物品把持装置の制御装置 |
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2019
- 2019-12-27 DE DE102019135810.8A patent/DE102019135810B3/de active Active
-
2020
- 2020-12-22 US US17/784,916 patent/US20230001580A1/en active Pending
- 2020-12-22 WO PCT/EP2020/087557 patent/WO2021130193A1/de unknown
- 2020-12-22 KR KR1020227025275A patent/KR20220116289A/ko not_active Application Discontinuation
- 2020-12-22 JP JP2022539640A patent/JP2023508490A/ja active Pending
- 2020-12-22 EP EP20839027.8A patent/EP4081373A1/de active Pending
- 2020-12-22 CN CN202080083951.3A patent/CN114746223A/zh active Pending
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Also Published As
Publication number | Publication date |
---|---|
CN114746223A (zh) | 2022-07-12 |
KR20220116289A (ko) | 2022-08-22 |
JP2023508490A (ja) | 2023-03-02 |
US20230001580A1 (en) | 2023-01-05 |
EP4081373A1 (de) | 2022-11-02 |
DE102019135810B3 (de) | 2020-10-29 |
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