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EP3993965A1 - Rétroaction tactile d'un effecteur terminal d'un manipulateur robotique sur différentes plages d'orientation - Google Patents

Rétroaction tactile d'un effecteur terminal d'un manipulateur robotique sur différentes plages d'orientation

Info

Publication number
EP3993965A1
EP3993965A1 EP20743973.8A EP20743973A EP3993965A1 EP 3993965 A1 EP3993965 A1 EP 3993965A1 EP 20743973 A EP20743973 A EP 20743973A EP 3993965 A1 EP3993965 A1 EP 3993965A1
Authority
EP
European Patent Office
Prior art keywords
end effector
robot manipulator
rotation
deflection
dependent resistance
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP20743973.8A
Other languages
German (de)
English (en)
Inventor
Andreas SPENNINGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fr Administration GmbH
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 EP3993965A1 publication Critical patent/EP3993965A1/fr
Pending legal-status Critical Current

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
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • the invention relates to a method for controlling a robot manipulator during the manual guidance of the robot manipulator by a user, as well as a robot manipulator with a control unit, which is designed together with further elements of the robot manipulator to carry out this method.
  • the following information does not necessarily originate from the prior art, but rather represents general ideas and considerations:
  • a first aspect of the invention relates to a method for controlling a
  • Robot manipulator during the manual guidance of the robot manipulator by a user.
  • the robotic manipulator has a plurality of links connected to one another by joints and an end effector is connected to the distal member by another joint.
  • Actuators are arranged on all joints. The procedure has the following steps:
  • End effector is about a longitudinal axis of the end effector
  • Robot manipulator in particular by Flandkraft an external force on the
  • the first aspect of the invention relates in particular to the case that the user changes the orientation of an end effector of the robot manipulator by guiding it manually.
  • the robot manipulator is arranged on the distal link of the robot manipulator, that is to say at the free end of the robot manipulator, that is to say the end of the robot manipulator opposite the base of the robot manipulator.
  • the end effector is that element of the robot manipulator that comes into contact with a workpiece or with another object in the vicinity of the robot manipulator.
  • the robot manipulator is in particular an industrial robot which has several degrees of freedom due to several joints that connect the various members of the robot manipulator, in particular with regard to the end effector with respect to a fixed coordinate system.
  • the end effector is movably connected to the distal member by at least one further joint, the end effector being referred to as that end of the robot manipulator that is last connected to the rest by a joint and in particular also a corresponding actuator on this joint
  • Manipulator arm is connected.
  • all the joints of the robot manipulator have actuators that can be controlled by the control unit in order to achieve a To generate moment or a force between two members of the robot manipulator or between the distal member of the robot manipulator and the end effector.
  • the actuators are controlled by the control unit to compensate for a force of gravity acting on the robot manipulator, the actuators of the
  • Robot manipulator controlled so that in the event that no external force is exerted in particular by the user on the robot manipulator, apart from the
  • the robot manipulator does not move from a stationary pose. This is achieved in particular via a geometric model and a model of a mass distribution via the robot manipulator, which is dependent on the currently detected
  • Joint angles or another detected pose of the robot manipulator determines the current moments on the joints of the robot manipulator so that the influence of gravity is known and therefore it is also known which counter-torque is to be set on the actuators of the robot manipulator so that the
  • Robot manipulator not influenced by gravity moves.
  • the robot manipulator is therefore artificially put into weightlessness, so to speak, with an admittance control being active, so that the robot manipulator can still be moved by the user, in particular manually, in particular to position and position on the robot manipulator and in particular on the end effector of the robot manipulator
  • the position angle detection unit particularly includes all of them
  • Joint angle sensors including the joint between the distal limb and the end effector.
  • the joint angle sensors are used in particular to detect an angle between two respective links of the robot manipulator, so that at least one relative orientation of the end effector with respect to the distal link of the
  • Robot manipulator but preferably, in addition to the relative orientation, also an orientation of the end effector with respect to a fixed coordinate system.
  • a fixed coordinate system For the execution of the method it is irrelevant in which coordinate system the deflection or the angle of rotation are noted; because the notation of these quantities changes nothing in relation to these quantities.
  • Known angle systems can also be used, in particular cardan angles, Euler angles or, to avoid singularities, quaternions.
  • Robot manipulator are stretched to the maximum, and in particular by 180 ° are aligned with each other.
  • the longitudinal axis of the end effector also corresponds to the axis of rotation of the drill, for example when using a drill on the end effector.
  • the longitudinal axis of the end effector can be defined via an imaginary connecting line from a distal tip of the end effector to the joint which connects the end effector to the distal member.
  • a speed-dependent resistance is typically also referred to as damping.
  • damping In the first area when the user turns the end effector around its longitudinal axis, the user feels a speed-dependent movement
  • the areas are preferably defined via a zero position of the end effector, the zero position of the end effector preferably being predetermined with respect to the distal link of the robot manipulator or with respect to a direction defined in a global coordinate system that is fixed on the earth.
  • the second area is preferably defined relative to a zero position of the end effector, the zero position of the end effector being defined by the current alignment of its longitudinal axis fixed to the body compared to the original alignment of its longitudinal axis from which the end effector is deflected.
  • the original alignment of the longitudinal axis of the end effector is the one that coincides with the longitudinal axis of the end effector fixed to the body in a neutral position, in particular in the middle position, in particular aligned with a straight line defined by the links that arises when all the links are maximally stretched from one another, especially at 180 ° angle,
  • the longitudinal axis of the end effector is outside the second area in relation to the original alignment
  • the deflection of the end effector consists in that a body-fixed point of the end effector or an imaginary point outside the end effector which, however, is stationary relative to the end effector, remains in relation to the original alignment of the longitudinal axis during deflection, but the longitudinal axis of the end effector moves in a radial direction tilts away from the original alignment of the longitudinal axis.
  • the second end effector rotation therefore corresponds to a movement within an imaginary triangle; in the three-dimensional case, the second end effector rotation therefore corresponds to a movement within an imaginary cone.
  • the second end effector rotation is a rotary deflection of the end effector from its original alignment of the longitudinal axis, and in a second alternative the deflection from a vertical axis.
  • the deflection from a vertical axis In contrast to the original orientation of the Longitudinal axis of the end effector is defined as a vertical axis relative to the earth and describes a vertical axis in a fixed coordinate system, in the direction of which gravity acts.
  • Robot manipulator, the robot manipulator and in particular the end effector of the robot manipulator output intuitive feedback on the current orientation of the end effector.
  • predetermined limits become soft
  • the second end effector rotation is a rotational deflection of the end effector from the original longitudinal axis or a vertical axis in a predetermined plane.
  • the deflection takes place in one plane, it being possible for it to be open which reaction the end effector towards you
  • the predetermined plane is a vertical plane and the second end effector rotation is defined about a horizontal axis, the horizontal axis maintaining its orientation with respect to the earth-fixed environment of the robot manipulator even when the robot manipulator is rotated about a vertical axis.
  • the behavior of the first aspect of the invention in this plane can always be compared to a certain direction in an earth-fixed one Coordinate system can be guaranteed, with any options of the reaction of the end effector for other directions are open, in particular a blocking against a rotational deflection of the end effector relative to its originally aligned longitudinal axis.
  • the second end effector rotation is a rotational deflection of the end effector from the original longitudinal axis or a vertical axis in any deflection directions with a common pivot point.
  • the rotational symmetry axis of the cone corresponds to a vertical axis, the vertical axis coinciding with a direction of gravity. In both cases, there is the advantage that the rotational deflection of the end effector exhibits symmetrical behavior with respect to an infinite number of directions.
  • At least some of the actuators of the robot manipulator are controlled in such a way that when the end effector is manually guided, the end effector outside the first area and / or outside the second area opposes a speed-dependent resistance to manual guiding.
  • the end effector experiences manual guidance by a user in addition to the deflection-dependent or
  • the deflection-dependent resistance outside the second range is non-linear with respect to the deflection and / or the rotation angle-dependent resistance outside the first area is non-linear with the rotation angle. Due to the non-linear relationship between deflection or
  • a respective non-linear function between deflection and resistance and / or between angle of rotation and resistance is one of the following:
  • the upper limit which is not exceeded by the end effector with respect to the respective associated actuator torque, is advantageously exactly or slightly below the natural upper limit of the actuators of the robot manipulator or at least of the actuator that is arranged at the joint between the end effector and the distal member, with a natural upper limit for example, a maximum permissible torque on a transmission of the respective actuator or the maximum applicable torque from an actuator. In this way, overloading of the robot manipulator, in particular of a gear or an actuator or a structural component of the robot manipulator, is advantageously avoided.
  • the control of the at least one part of the actuators of the robot manipulator takes place by the control unit so that when manually guiding the end effector, the end effector within the second range of the second end effector rotation opposes a deflection-dependent resistance to manual guiding, the deflection-related resistance within the second range is less than half of the deflection-dependent resistance outside the second range per deflection.
  • the artificial spring within the second area in combination with the artificial damping according to the first aspect of the invention results in an artificial mass-spring-damper system which enables very intuitive behavior and at the same time allows the end effector to return to its own when the end effector is released Resting position, i.e. starting position and starting orientation, is made possible.
  • the at least one part of the actuators of the robot manipulator is controlled by the control unit in such a way that when the end effector is manually guided, the end effector within the first Area of the first end effector rotation opposes a rotation angle-dependent resistance to manual guidance, the rotation angle-dependent resistance within the first area being less than half the deflection-dependent resistance outside the first area per deflection.
  • the artificial spring within the first area in combination with the artificial damping according to the first aspect of the invention results in an artificial mass-spring-damper system which enables very intuitive behavior and at the same time allows the end effector to return to its own when the end effector is released Resting position, i.e. starting position and starting orientation, is made possible.
  • a further aspect of the invention relates to a robot manipulator which has a plurality of links connected to one another by joints, an end effector being connected to the distal member by a further joint, and actuators being arranged on all joints, further comprising a control unit and a
  • Position angle detection unit the control unit being designed to control the actuators to compensate for a force of gravity acting on the robot manipulator in such a way that the robot manipulator remains in the stationary pose without any external force, starting from a stationary pose without any acceleration, but can be guided manually for this purpose is performed, during manual guidance: to detect an orientation of the end effector relative to the distal member or relative to a fixed coordinate system, and wherein the control unit is designed to use at least part of the actuators of the based on the detected orientation of the end effector
  • End effector is about a longitudinal axis of the end effector
  • FIG. 1 shows a robot manipulator with a control unit for carrying out a
  • a control unit 7 is connected to the robot manipulator 1 and is used to control the actuators 5, in particular on the basis of the joint angles detected by a position angle detection unit 9.
  • the position angle detection unit 9 is formed by the entirety of the angle sensors, with at least one angle sensor being located on each joint.
  • the control unit 7 is used to carry out the method illustrated in FIG. 2 by controlling the at least some of the actuators 5. For this purpose, the control unit 7 controls the actuators 5 to compensate for a
  • the robot manipulator 1 acts on gravity in such a way that the robot manipulator 1 remains in the stationary pose without any external force, starting from a stationary pose without acceleration, but can be guided manually.
  • Position angle detection unit 9 determines an orientation of the end effector 3 with respect to a fixed-earth coordinate system during manual guidance.
  • the control unit 7 also controls on the basis of the detected orientation of the end effector 3 at least some of the actuators 5 of the robot manipulator 1 in such a way that when the end effector 3 is manually guided, the end effector 3: a) no or one
  • the first end effector rotation being a rotation of the
  • End effector 3 is about a longitudinal axis of the end effector 3, and
  • FIG. 2 shows a method for controlling a robot manipulator 1 while the robot manipulator 1 is being guided manually by a user. The method is carried out on a robot manipulator 1 according to FIG. 1.
  • Robot manipulator 1 has a multiplicity of links connected to one another by joints and an end effector 3 is connected to the distal link by a further joint, actuators 5 being arranged on all joints.
  • the procedure consists of the following steps:
  • End effector 3 about a longitudinal axis of the end effector 3, and b) none or one within a second range of a second end effector rotation
  • the second end effector rotation being a rotary deflection of the end effector 3 from its originally aligned longitudinal axis or a vertical axis.

Landscapes

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

Abstract

La présente invention concerne un procédé comprenant les étapes consistant : - à commander (S1) des actionneurs (5) d'un manipulateur robotique (1) pour compenser l'effet de la gravité, - pendant un guidage manuel du manipulateur robotique (1), à détecter (S2) une orientation d'un effecteur terminal (3), - à commander (S3) au moins une partie des actionneurs (5) de telle sorte que, lors du guidage manuel de l'effecteur terminal (3), l'effecteur terminal (3) : a) n'oppose au guidage manuel aucune résistance ou oppose à ce dernier une résistance dépendante de la vitesse au sein d'une première plage d'une première rotation d'effecteur terminal, et une résistance dépendante de l'angle de rotation hors de la première plage, la première rotation d'effecteur terminal étant une rotation de l'effecteur terminal (3) autour de son axe longitudinal, et b) n'oppose au guidage manuel aucune résistance ou oppose à ce dernier une résistance dépendante de la vitesse au sein d'une seconde plage d'une seconde rotation d'effecteur terminal, et une résistance dépendante de la déviation hors de la seconde plage, la seconde rotation d'effecteur terminal étant une déviation rotative de l'effecteur terminal (3) par rapport à son axe longitudinal d'origine ou à un axe vertical.
EP20743973.8A 2019-07-05 2020-07-03 Rétroaction tactile d'un effecteur terminal d'un manipulateur robotique sur différentes plages d'orientation Pending EP3993965A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019118260.3A DE102019118260B3 (de) 2019-07-05 2019-07-05 Taktile Rückmeldung eines Endeffektors eines Robotermanipulators über verschiedene Orientierungsbereiche
PCT/EP2020/068784 WO2021004920A1 (fr) 2019-07-05 2020-07-03 Rétroaction tactile d'un effecteur terminal d'un manipulateur robotique sur différentes plages d'orientation

Publications (1)

Publication Number Publication Date
EP3993965A1 true EP3993965A1 (fr) 2022-05-11

Family

ID=71741758

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20743973.8A Pending EP3993965A1 (fr) 2019-07-05 2020-07-03 Rétroaction tactile d'un effecteur terminal d'un manipulateur robotique sur différentes plages d'orientation

Country Status (7)

Country Link
US (1) US11999049B2 (fr)
EP (1) EP3993965A1 (fr)
JP (1) JP2022539813A (fr)
KR (1) KR102670915B1 (fr)
CN (1) CN114051441B (fr)
DE (1) DE102019118260B3 (fr)
WO (1) WO2021004920A1 (fr)

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
JP7661714B2 (ja) * 2021-02-10 2025-04-15 セイコーエプソン株式会社 教示装置、教示方法および教示プログラム
DE102021204495A1 (de) 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters
DE102021204494A1 (de) 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters

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US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
JP2011206886A (ja) * 2010-03-30 2011-10-20 Yaskawa Electric Corp ロボットの制御装置及び方法
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Also Published As

Publication number Publication date
CN114051441A (zh) 2022-02-15
US20220347866A1 (en) 2022-11-03
KR20220020377A (ko) 2022-02-18
WO2021004920A1 (fr) 2021-01-14
JP2022539813A (ja) 2022-09-13
US11999049B2 (en) 2024-06-04
DE102019118260B3 (de) 2020-08-20
KR102670915B1 (ko) 2024-05-29
CN114051441B (zh) 2024-05-31

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