WO2019025248A1 - Procédé et système de vérification et/ou modification d'un processus de travail d'un robot - Google Patents

Procédé et système de vérification et/ou modification d'un processus de travail d'un robot Download PDF

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Publication number
WO2019025248A1
WO2019025248A1 PCT/EP2018/070113 EP2018070113W WO2019025248A1 WO 2019025248 A1 WO2019025248 A1 WO 2019025248A1 EP 2018070113 W EP2018070113 W EP 2018070113W WO 2019025248 A1 WO2019025248 A1 WO 2019025248A1
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WO
WIPO (PCT)
Prior art keywords
robot
obstacle
working process
simulation
collision
Prior art date
Application number
PCT/EP2018/070113
Other languages
German (de)
English (en)
Inventor
Felix Allmendinger
Original Assignee
Kuka Deutschland 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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Publication of WO2019025248A1 publication Critical patent/WO2019025248A1/fr

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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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40198—Contact with human allowed if under pain tolerance limit
    • 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
    • G05B2219/40317—For collision avoidance and detection
    • 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
    • G05B2219/40318—Simulation of reaction force and moment, force simulation

Definitions

  • the present invention relates to a method and a system for checking and / or modifying a working process of a robot.
  • WO 2015/067680 A2 discloses a method for detecting robot-induced loads that can act on the human body in a work process when in contact with a robot, in which the robot-induced loads are detected by measurement using a measuring device.
  • the object of the present invention is to improve the checking and / or modification of a working process of a robot.
  • Claims 12-16 protect a simulation or control means as well as a system, a robotic workstation and a computer program product for carrying out a method described herein.
  • the subclaims relate to advantageous developments.
  • the step a) simulating the working process by a simulation means, wherein the simulation means with a control means for controlling the robot exchanges data and a collision of the robot, in particular an end member, a base and / or at least an arm member of the robot disposed therebetween is simulated with an obstacle having a first pose relative to the robot;
  • metrologically detected real collisions with a measuring device can be considered in an embodiment with little (re) m time, material and / or work a variety of (potential) collisions, in particular more different obstacle poses and / or colliding robot elements.
  • steps a) and b) are repeated one or more times, wherein (in step a)) the obstacle (each) has a new pose relative to the robot and (in step b)) the working process (also) in FIG Depending on the simulated collision of the robot with the (respective) new pose having obstacle checked and / or modified.
  • the one or more of the new pose (s) becomes dependent on one or more previous simulations, in particular one or more of the preceding simulations of one or more of the simulations
  • the first pose may also be predefined as a function of at least one previous simulation. If a simulation is mentioned here, it is preferably one or the simulations of or one of the steps (a), without being limited thereto.
  • the first pose and / or the one or more of the new pose (s) is stochastically specified or selected at random or in the form of a random sample, for example by means of the Monte Carlo method or similar.
  • the Reliability and / or validity of the review or modification can be improved.
  • the first pose and / or the one or more of the new pose (s) is a function of one
  • rule-based selection in particular in the form of a systematic sampling.
  • Modification can be carried out in a more targeted manner.
  • simulation means exchanges data with the control means during or for the simulation
  • a more realistic simulation can advantageously be carried out in one embodiment, in particular features which are generated by the control means in the real world
  • control means has a path planning, in particular a redundancy resolution, or executes them during or for the simulation of the work process.
  • path planning in particular a redundancy resolution, or executes them during or for the simulation of the work process.
  • the redundancy resolution depending on the or the simulated collision (s), in particular thereby determined loads, modified, in particular for reducing the burden, for example by or for (Ver) avoidance of robot poses for which the simulation results in higher collision loads ,
  • control means in one embodiment
  • Compliance control in particular an impedance or admittance control, on or leads to this or during the simulation of the work process.
  • the compliance control is modified as a function of the simulated collision (s), in particular in the case of determined loads, in particular for reducing the loads, for example by means of a
  • control means in one embodiment
  • Collision reaction in particular a collision detection and thereby triggered collision reaction such as a deceleration, in particular an (emergency) stop, on or commanded these at or for the simulation of the working process.
  • the collision reaction is modified as a function of the simulated collision (s), in particular in the case of ascertained loads, in particular for reducing the loads, for example by means of a
  • the robot has a robot arm with one or more, in particular at least three, in one embodiment at least six, in particular at least seven, joints or axes that can be actuated or actuated by drives, in particular electric motors or the like.
  • the robot (arm) has a (distal) end member, in particular a, in a non-destructively releasably attached, end effector, in particular a robot (arm-guided tool, and / or fixed in one embodiment or mobile, (proximal) Base and one or more arm members, which are connected by the joints (respectively) with another arm member and / or the end member and / or the base.
  • the control means is in an embodiment, in particular hardware and / or software, in particular programmatically In one embodiment, it exchanges data with the (real) robot to perform the (real) work process, in one embodiment it transfers control data to the robot Robot and / or receives measurement data from the robot, or is set up for this purpose or is (are) used for this purpose ft performed a more realistic simulation, in particular special features that occur by the control means in real operation, are taken into account.
  • the simulation means numerically simulates the working process in one embodiment, in particular by time integration of motion differential equations and / or by means of a virtual robot or robot model of the (real) robot and / or a virtual obstacle or obstacle model of the (real) Obstacle, or is or will be set up or used for this purpose. Accordingly, in one embodiment, the simulation means comprises a robotic mode of the robot and / or an obstacle model of the obstacle.
  • the robot and / or the obstacle model can in one embodiment (respectively) a mathematical or substitute model, in particular a so-called
  • a multi-body (simulation) model may be, in particular, which in one embodiment has one or more rigid (modeled and / or elastic (modeled, in one embodiment by means of finite elements modeled, (virtual) bodies connected by (virtual) joints and (virtual) force elements, in particular (virtual) springs, dampers and / or drives, can thereby be increased in one embodiment, the precision and / or reliability of the simulation and / or their effort, especially time and / or
  • a pose in the sense of the present invention can in one embodiment have or describe a one-, two- or three-dimensional (Cartesian) position and / or a one-, two- or three-dimensional orientation or angular position.
  • the working process may in one embodiment a web, in particular a
  • the working process comprises a collaboration of the robot with one or more people, in a further development the (real or virtual) obstacle represents this person or is set up for this purpose or is used for this purpose.
  • the obstacle in particular for representing a person collaborating or colliding with the robot, has one or more especially modeled by the obstacle model, yielding bearing
  • the obstacle may be a
  • Obstacle model such a model.
  • relevant loads on a human being in a collision with the robot can advantageously be determined, estimated or compared or compared with measured values of real detection devices.
  • the simulation means and the control means are formed separable from each other or are at least temporarily separated from each other, in one embodiment, they have corresponding interfaces to
  • control means which subsequently (also) for controlling the (real) robot, in particular for carrying out the checked and / or modified
  • control means in particular in response to a predetermined robot program for performing the work process, control data, in particular target poses, target speeds, target accelerations and / or desired driving forces and / or moments, to the
  • Simulation means which in one embodiment simulates the work process on the basis of this control data, for example on the basis of the control data (virtual)
  • the simulation means transmits simulated measurement data, in particular simulated or virtual actual poses, actual velocities, actual accelerations and / or actual reaction forces
  • simulated) controls in particular generates corresponding control data based on the measured data.
  • a more realistic simulation can advantageously be carried out, in particular special features which occur in real operation by the control means are taken into account.
  • the determined (virtual) loads of the obstacle and / or robot in the simulated collision (s) can in one embodiment comprise forces and / or moments, in particular their maximum and / or average values and / or time courses, in particular in particular, forces that act on the (virtual) measuring means of the obstacle model in the case of the simulated collision (s) respectively).
  • the checking comprises a comparison of the ascertained loads of the obstacle with predetermined limit values and, in a development, an evaluation of the work process or robot on the basis of this comparison, in particular a (safety) release or (safety) decrease of the
  • modifying comprises reducing the detected loads of the obstacle, in particular (by
  • Execution of the working process in particular traversing the web by or with the robot and / or (by appropriate) modifying the control means, its path planning, in particular redundancy resolution, compliance control and / or collision reaction, for example by (re) parameterizing or the like.
  • a simulation means adapted to simulate the working process of the robot is and / or
  • Control means which is (are) also set up for controlling the (real) robot, and in particular a system for checking and / or modifying a working process of the robot (in each case), in particular hard and / or
  • simulation means for simulating the work process by exchanging data with the control means and simulating a collision of the robot, in particular an end member, a base and / or at least one arm member of the robot therebetween, with an obstacle having a first pose relative to Robot has;
  • the system or its agent has:
  • Obstacle has a new pose relative to the robot and the working process in response to the simulated collision of the robot with the new pose having obstacle is checked and / or modified;
  • a robot workstation includes the robot and the system for checking and / or modifying a Working process of the robot as described here. Accordingly, in one embodiment, this robot workstation is checked and / or modified in the manner described here.
  • a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
  • the CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or
  • a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be arranged to be capable of embodying the methods described herein, such that the CPU may perform the steps of such
  • a computer program product may include, in particular, a non-volatile storage medium for storing a program or a program stored thereon, wherein execution of this program causes a system or a controller, in particular a computer, to do so method described herein or one or more of its steps.
  • one or more, in particular all, steps of the method are completely or partially automated, in particular by the system or its (e) means.
  • a control comprises a command or output of control data as a function of desired and actual values, in particular a comparison of desired and actual values, or a regulation.
  • FIG. 2 shows the robot workstation, with one simulation means of the system simulating another pose of the robot at the time;
  • FIG 3 shows the robot workstation, wherein the simulation means simulates another time of the work process
  • FIG. 4 shows a method for checking or modifying the working process of the robot according to an embodiment of the present invention.
  • Fig. 1 shows a robot workstation comprising a robot (arm) 10 with a
  • End effector 1 1 a rocker 12 and a base 13 and a system for
  • the system has a control means in the form of a robot controller 20, which exchanges control and measurement data with drives of the robot 10, as indicated in FIG. 1 by a dot-dashed double arrow.
  • the control means 20 has a
  • Path planning in particular redundancy resolution, a compliance control and a collision reaction on.
  • a horizontal extension of the robot (arms) or of its end member 11, in particular -effector is considered by way of example.
  • the path planning of the control means 20 determines this in dependence on a predetermined
  • the redundancy resolution selects between the poses of the robot (arm) 10 illustrated in FIGS. 1, 2 by a robot model 310, these singular poses being used purely for the sake of more compact explanation, and FIG Robot in a modification, not shown, for example, may have seven or more axes or joints.
  • the compliance control generates based on the planned path corresponding target positions of a pivot point of a virtual pen.
  • the collision reaction reduces a robot's speed to zero when a collision is detected.
  • the system further comprises a simulation means 30 in the form of a computer, on which a simulation program for simulating the to be checked or
  • Control and simulation means 20, 30 are designed to be separable from one another and decoupled and exchange data with one another via interfaces 21, 31 furnished therewith, as indicated in FIG. 1 by a dash-dotted double arrow.
  • the simulation means 30 comprises a multi-body (simulation) model 310 of the robot 10 and a multi-body (simulation) model 340 of an obstacle in the form of a
  • Measuring device 40 which or has a resiliently mounted by a spring 42 on a measuring means 43 contact surface 41 to represent a person collaborating with the robot 10, this obstacle 40 does not exist real (and therefore only dashed in Fig. 1 shown), but is virtually modeled only by the obstacle model 340.
  • the simulation means 30 virtually places the obstacle model 340 in a first pose relative to the robot model 310 such that a
  • step a) the work process, in particular the thereby
  • control means 20 transmits in dependence on the
  • the simulation means 30 simulates in the simulation measurement data, for example, virtual joint positions and / or velocities of the joints of the robot model 310, and transmits them to the control means 20, which uses them to determine the control data.
  • the simulation means 30 determines virtual loads on the obstacle 40 or obstacle model 340 in the simulated collision with the robot 10 or robot model 310. In a step b), the simulation means 30 checks the work process in FIG.
  • step b): "N" If the loads do not exceed the predetermined limits (step b): "N"), the simulation means 30 positions the obstacle model 340 or the obstacle model 340
  • Obstacle 40 each virtual in a new pose, as in Fig. 1 exemplified dashed and in Fig. 1, 3 also indicated by an apostrophe (step S30), and repeats steps a), b), to finally a predetermined Number of obstacle poses has been checked or another termination criterion has been reached (step S20: "Y"), and then the safety clearance is issued (step S40).
  • the robot 10 or the robot model 310 collides with the obstacle 40 or obstacle model 340 in its new pose at the same point in time of the simulated work process or in the same robot pose. This should
  • collisions at different (time, in particular track) points of the working process can be checked, as indicated by the figure sequence Fig. 2 Fig. 3, by the obstacle model 340 and the Obstacle 40 is virtually moved from the pose of FIG. 2 into the new pose of FIG. 3 and the work process is simulated for this again, with the robot 10 or the robot model 310 with the obstacle 40 or obstacle model 340 at a later (time -, in particular railway) point virtually collided. Additionally or alternatively to a review of the work process, this can also be modified.
  • step b) for example, the predetermined robot path and / or path planning, in particular redundancy resolution, compliance control and / or collision reaction of the robot 10 or control means 20 are modified such that the loads determined during the simulation (s) are reduced.
  • simulation of the collision of the end effector 11 with the contact surface 41 of the obstacle 40 results in (virtual) lower loads on the obstacle 40 or in the measuring means 43 of the robot pose shown in FIG and / or redundancy resolution modified so that the robot controller 20 to perform the real

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

Abstract

L'invention concerne un procédé de vérification et/ou modification d'un processus de travail d'un robot (10) comprenant les étapes de : a) la simulation d'un processus de travail par un moyen de simulation (30), le moyen de simulation échangeant ce faisant des données avec un moyen de commande (20) pour la commande du robot, et une collision du robot, en particulier d'un membre d'extrémité (11), d'une base (13) et/ou d'au moins un membre de bras (12) du robot disposé entre ceux-ci, avec un obstacle (40) présentant une première pose par rapport au robot étant simulée ; et b) la vérification et/ou la modification du processus de travail en fonction de la collision simulée, en particulier des charges de l'obstacle et/ou du robot déterminées.
PCT/EP2018/070113 2017-08-04 2018-07-25 Procédé et système de vérification et/ou modification d'un processus de travail d'un robot WO2019025248A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017007359.7 2017-08-04
DE102017007359.7A DE102017007359B4 (de) 2017-08-04 2017-08-04 Verfahren und System zum Überprüfen und/oder Modifizieren eines Arbeitsprozesses eines Roboters

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WO2019025248A1 true WO2019025248A1 (fr) 2019-02-07

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EP3733355A1 (fr) * 2019-05-01 2020-11-04 Arrival Limited Système et procédé d'optimisation de mouvement de robot
CN112947439A (zh) * 2021-02-05 2021-06-11 深圳市优必选科技股份有限公司 位置调整方法、装置、终端设备及可读存储介质
US20220111518A1 (en) * 2020-10-13 2022-04-14 Autodesk, Inc. Techniques for robot control based on generated robot simulations

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DE102020215904B3 (de) 2020-12-15 2022-03-31 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters

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DE102014007624A1 (de) * 2014-05-23 2015-11-26 Daimler Ag Verfahren zum Ermitteln von die Bewegung eines Roboters beeinflussenden Größen
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EP3733355A1 (fr) * 2019-05-01 2020-11-04 Arrival Limited Système et procédé d'optimisation de mouvement de robot
US20220111518A1 (en) * 2020-10-13 2022-04-14 Autodesk, Inc. Techniques for robot control based on generated robot simulations
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CN112947439A (zh) * 2021-02-05 2021-06-11 深圳市优必选科技股份有限公司 位置调整方法、装置、终端设备及可读存储介质

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