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WO1999027427A1 - Robot virtuel - Google Patents

Robot virtuel Download PDF

Info

Publication number
WO1999027427A1
WO1999027427A1 PCT/EP1998/007567 EP9807567W WO9927427A1 WO 1999027427 A1 WO1999027427 A1 WO 1999027427A1 EP 9807567 W EP9807567 W EP 9807567W WO 9927427 A1 WO9927427 A1 WO 9927427A1
Authority
WO
WIPO (PCT)
Prior art keywords
controller
abstract
translator
virtual robot
model
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.)
Ceased
Application number
PCT/EP1998/007567
Other languages
German (de)
English (en)
Inventor
Helmut BLÖCKER
Gerhard Kauer
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.)
Helmholtz Zentrum fuer Infektionsforschung HZI GmbH
Original Assignee
Helmholtz Zentrum fuer Infektionsforschung HZI 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 Helmholtz Zentrum fuer Infektionsforschung HZI GmbH filed Critical Helmholtz Zentrum fuer Infektionsforschung HZI GmbH
Priority to CA002278582A priority Critical patent/CA2278582A1/fr
Priority to EP98962389A priority patent/EP0954772A1/fr
Priority to JP52765999A priority patent/JP2002511969A/ja
Publication of WO1999027427A1 publication Critical patent/WO1999027427A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33053—Modular hardware, software, easy modification, expansion, generic, oop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39014—Match virtual world with real world
    • 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
    • G05B2219/40131—Virtual reality control, programming of manipulator
    • 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
    • G05B2219/40312—OOP object oriented programming for simulation

Definitions

  • the invention relates to a virtual robot, i.e. a method and a device for controlling robots and automatic machines, such as experiments in a laboratory or automated processes in industrial production.
  • the invention is therefore based on the object of developing a virtual robot for controlling robots or automatic machines which can be easily adapted to a wide variety of robots.
  • a virtual robot according to the invention for controlling a real machine preferably comprises a software IC “controller” for controlling the abstract machine, an IC “model” for describing the abstract world of the machine to be actually controlled, an IC “translator” for generating and using the language of the abstract machine, an IC “ro ⁇ bot” for implementing actions of an abstract Robo ⁇ ters that depend on events of the controller, IC “robot Device” to implement actions of a real robot which depend on events of the controller, and an IC “Swatch” for outputting the current internal state of the real machine to a display unit or for simulating real actions.
  • IC “controller” for controlling the abstract machine
  • an IC “model” for describing the abstract world of the machine to be actually controlled
  • an IC “translator” for generating and using the language of the abstract machine
  • an IC “ro ⁇ bot” for implementing actions of an abstract Robo ⁇ ters that depend on events of the controller
  • IC “robot Device” to
  • the software ICs "Swatch” and “Robotdevice” can be derived from an abstract base class “View”, in which the interfaces of the ICs “Swatch” and “Robotdevice” are defined. Furthermore, the software ICs “View” and “Model” can be given a common interface by means of excitation, which enables simplified communication with the "controller”.
  • the IC “Translator” consist of the Mini class “Language”, which comprises the two object classes “Grammar” and “Vocabulary”, the class “Grammar” defining the rules for actions and methods of the abstract machine, while the class “Vocabulary” contains the necessary terms.
  • the "Model” class is such that it inherits its interface to its subclasses, which include an abstract model of the world of a robot that is actually used.
  • the device control includes logging al ⁇ ler "Views”, loading the program parameters in the IC “Mo ⁇ del” and the setting up of the process in the IC world “Model”.
  • the limits of the process world are checked, and if the world limits are not reached, the pending process step is carried out while reaching the World borders of the virtual robot is ended and thus the control of the real robot is finished.
  • This object-oriented design of the software is carried out in four steps:
  • a particular effect when using such software ICs is that when a software IC is improved, all software which contains this software IC is also improved.
  • the easy interchangeability of software ICs is achieved by distinct software units exist that communicate exclusively via exactly defi ⁇ ned interfaces together.
  • the code within an IC is completely encapsulated, ie all internal elements of the ongoing data processing to the product can of au ⁇ , ie by other ICs, inaccessible.
  • FIG. 11 shows a detailed event flow diagram of the virtual robot, the focus of detail being on the IC "translator”.
  • the first step in object-oriented programming is a description of the problem for the control software.
  • an external process pushes the Ansteue- control software, and gives her the required runtime of the Pro ⁇ program parameters, such as information on the actions being performed, so in case of software for controlling a vacuum chamber, the switch-on of the vacuum pump, the numbers of the valves, Time of opening, etc.
  • This information must be translated into program parameters.
  • This is handled by a parser, adds ⁇ ver of a corresponding grammar and a vocabulary ⁇ .
  • the required functions can be understood under the grammar and the necessary data under the vocabulary. that will.
  • the control of the robot to be controlled is carried out by successive commands which have to be given to it at certain times. It is therefore necessary in clock with which the necessary synchronization can take place. Status reports on the current execution status are also required, ie an output unit for a screen is necessary.
  • a communication interface is also required to forward current commands from the control software to the robot.
  • the relevant objects are abstracted into classes of appropriate granularity.
  • the individual machines or robots to be controlled are unsuitable objects for the general design, since they are a direct symbol for the dependency.
  • the IC "controller” contains an interface to the timer of the operating system. The data that define actions for the IC "controller” directly affect its abstract world.
  • the next step is to define the interfaces and inheritance hierarchies between the classes.
  • the "Controller”, "Model” and “View” objects are decoupled, but must be synchronized. Changes of an object may affect other objects without the geän ⁇ -made object to know the other exactly. This is the De ⁇ chorus of "Observer pattern”. Therefore, the design of these three objects is based on the "Observer pattern”.
  • the "Translator” object is only used during the program ⁇ startes. It is not necessary that this object exists as long as the "controller”. A simple association is thus possible in order to establish a connection for the evaluation of the information transmitted.
  • the "Language” object shown in FIG. 1 combines the elements “Grammar” and "Vocabulary".
  • Prinzipi ⁇ ell could formulate the grammar of a language in the form of methods, the vocabulary, however, regarded as their data. This would be the classic definition of a class: summarizing data with the operations directed at it. However, you would be the one ⁇ impose limitation in this design, both elements can not be independent vari ⁇ ming. It would be more cumbersome to apply different grammars to the same vocabulary if both elements were united in one and the same class.
  • Fig. 2 shows the connection between the "Translator” object and its “Language” object.
  • the problem shows that as long as the "Translator” object exists, it needs its “Language” object. Therefore associations are excluded as a connection.
  • 00D aggregations are considered elements of synthesis: "The object consists of ", or "Object A uses object B throughout its existence for task X ".
  • the "translator” class is combined in a singular aggregation with the "Language” class, as shown in FIG. 2.
  • Fig. 3 shows the nesting of the "view” objects.
  • the “controller” implements the algorithms for controlling the various machines (eg cyclical ventilation in a vacuum chamber) and is thus an example of a “strategy pattern”.
  • the class "View” is an abstract base class' in which the interface of the concrete classes derived from it is defined. This design ensures the consistency of the interface for all views.
  • “Swatch” is the class whose copy for the graphical output of the current is responsible internal state on the screen.
  • the "robot Device” class encapsulates the respective interface Subject Author ⁇ fenden hardware to be controlled robot.
  • This class is an adapter class that resolves the hardware dependency via an adapted class.
  • the adapted classes receive the names of the devices to be controlled.
  • the object adapter for the described "view” objects uses the object composition shown in FIG. 4. Here, the Whether ⁇ If ject to "VC-Device" on behalf of all other ⁇ controlled robot.
  • the "controller” object shown in FIG. 5 is the center of the application in the present software design. It registers objects dependent on it in order to inform it in the future of any changes that may occur. Here is unmarried ⁇ Lich the signal that something has changed, sent.
  • the associated class has an interface with which the dependent objects can be synchronized with the new state via queries. In the present case, these are the dependent objects "CSR”, “PCR” and Vacuum Chamber ", which stand for three different robot types in the underlying application.
  • the dependent objects are responsible for obtaining the information relevant to them.
  • the "controller” object utilizes the data that have been available over the Whether ⁇ ject "Translator” and a gegebe ⁇ executes nes protocol.
  • the "controller” has access to the Sy ⁇ stemuhr of the computer and receives from the latter via an interface, a measure of time.
  • the "controller” class is abstract and defines an interface that is inherited from all derived classes. The classes derived from it can be easily exchanged through the common interface. The different methods for each robot are thus solved by this design, which is based on an "observer huster", as shown in FIG. 5.
  • the "model” has the same interface as a “view”. You could now derive the "model” from the abstract base class "View” to inherit this interface, but this would not be a clean representation of reality.
  • PCR is a pipetting robot
  • CRS is a gripping robot
  • Vac or VacuumChamber is an automatic vacuum chamber.
  • FIGS. 9-11 The dynamic, externally visible behavior of the system and its objects is graphically documented in FIGS. 9-11. Internal actions, which are determined by algorithms, are not taken into account unless they manifest themselves externally. All events are first identified and only then assigned to the objects. In this way, the dynamic model provides additional control as to whether the design presented in the object model is sustainable. State diagrams are thus created for each object, as is exemplarily carried out in FIGS. 9-11 with a focus on the "translator".
  • the "controller” receives a line from the “controller” which should contain information for the process to be controlled.
  • the "Translator” checks the grammar and vocabulary of this line and accepts it as a command line.
  • the "Translator” translates the content of the line into program-relevant parameters using the grammar and vocabulary available to it.
  • the translator returns these program parameters to the "controller”.
  • the "controller” receives a line from the “controller” which should contain information for the process to be controlled.
  • the "Translator” checks the grammar and vocabulary of this line and does not accept them as a command line because the grammar is incorrect.
  • the "Translator” informs the "Controller” of an incorrect command line and terminates.
  • the "controller” receives a line from the “controller” which should contain information for the process to be controlled.
  • the "Translator” determines that the transferred line is invalid.
  • the "Translator” informs the controller that it has received an incorrect line of information and aborts.
  • Fig. 11 finally, is a self-explanatory whilflußplan detail with focus "Translator”, that the relationships shown in FIGS. 9 and 10 in the Bacpro ⁇ program embeds.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Stored Programmes (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un robot virtuel destiné à commander une machine automatique et formé par l'interaction des circuits intégrés logiciels suivants: un circuit intégré "régisseur" pour commander la machine abstraite, un circuit intégré "modèle" pour décrire le monde abstrait de la machine réelle à commander, un circuit intégré "traducteur" pour générer le langage de la machine abstraite, un circuit intégré "robot" pour la mise en oeuvre des actions d'un robot abstrait, qui dépendent des événements du circuit intégré "régisseur", un circuit intégré "dispositif robotisé" pour la mise en oeuvre des actions d'un robot réel, qui dépendent des événements du circuit intégré "régisseur", et un circuit intégré "couche" pour afficher l'état intérieur actuel de la machine réelle sur une unité de visualisation.
PCT/EP1998/007567 1997-11-24 1998-11-24 Robot virtuel Ceased WO1999027427A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA002278582A CA2278582A1 (fr) 1997-11-24 1998-11-24 Robot virtuel
EP98962389A EP0954772A1 (fr) 1997-11-24 1998-11-24 Robot virtuel
JP52765999A JP2002511969A (ja) 1997-11-24 1998-11-24 仮想ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19751955.5 1997-11-24
DE19751955A DE19751955A1 (de) 1997-11-24 1997-11-24 Virtueller Roboter

Publications (1)

Publication Number Publication Date
WO1999027427A1 true WO1999027427A1 (fr) 1999-06-03

Family

ID=7849623

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1998/007567 Ceased WO1999027427A1 (fr) 1997-11-24 1998-11-24 Robot virtuel

Country Status (5)

Country Link
EP (1) EP0954772A1 (fr)
JP (1) JP2002511969A (fr)
CA (1) CA2278582A1 (fr)
DE (1) DE19751955A1 (fr)
WO (1) WO1999027427A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003102854A3 (fr) * 2002-06-04 2004-07-22 Applera Corp Systeme et procede de commande en circuit ouvert et de suivi d'instruments biologiques

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19949558A1 (de) * 1999-10-14 2001-04-19 Heidenhain Gmbh Dr Johannes Steuerungsprogramm für eine numerische Werkzeugmaschine mit einer wiederverwendbaren Softwarestruktur
DE102004031485B4 (de) 2004-06-30 2015-07-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern des Handhabungsgeräts
DE102008018962B4 (de) * 2008-04-16 2015-08-20 Kuka Roboter Gmbh Verfahren zur Steuerung eines Roboters
DE102010012598A1 (de) * 2010-02-26 2011-09-01 Kuka Laboratories Gmbh Prozessmodulbibliothek und Programmierumgebung zur Programmierung eines Manipulatorprozesses
CN116512274B (zh) * 2023-06-05 2025-09-19 伯朗特机器人股份有限公司 一种机器人轨迹规划方法的软件架构

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4914567A (en) * 1987-11-02 1990-04-03 Savoir Design system using visual language
US5247650A (en) * 1989-08-30 1993-09-21 Industrial Technology Institute System for combining originally software incompatible control, kinematic, and discrete event simulation systems into a single integrated simulation system
EP0596205A2 (fr) * 1992-11-03 1994-05-11 Hewlett-Packard Company Système informatisé d'analyse chimique
US5423023A (en) * 1990-06-25 1995-06-06 Prime Computer, Inc. Method and apparatus for providing a user configurable system which integrates and manages a plurality of different task and software tools
US5528503A (en) * 1993-04-30 1996-06-18 Texas Instruments Incoporated Integrated automation development system and method
US5586323A (en) * 1991-04-23 1996-12-17 Hitachi, Ltd. Compilier system using an intermediate abstract form and machine-specific installers

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4914567A (en) * 1987-11-02 1990-04-03 Savoir Design system using visual language
US5247650A (en) * 1989-08-30 1993-09-21 Industrial Technology Institute System for combining originally software incompatible control, kinematic, and discrete event simulation systems into a single integrated simulation system
US5423023A (en) * 1990-06-25 1995-06-06 Prime Computer, Inc. Method and apparatus for providing a user configurable system which integrates and manages a plurality of different task and software tools
US5586323A (en) * 1991-04-23 1996-12-17 Hitachi, Ltd. Compilier system using an intermediate abstract form and machine-specific installers
EP0596205A2 (fr) * 1992-11-03 1994-05-11 Hewlett-Packard Company Système informatisé d'analyse chimique
US5528503A (en) * 1993-04-30 1996-06-18 Texas Instruments Incoporated Integrated automation development system and method

Non-Patent Citations (1)

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Title
J. MICHAEL GRIESMEYER ET AL.: "Process Subsystem Architecture for Virtual Manufacturing Validation", PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, April 1996 (1996-04-01), Minneapolis, Minnesota, US, pages 2371 - 2376, XP000772562 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003102854A3 (fr) * 2002-06-04 2004-07-22 Applera Corp Systeme et procede de commande en circuit ouvert et de suivi d'instruments biologiques
US6909974B2 (en) 2002-06-04 2005-06-21 Applera Corporation System and method for discovery of biological instruments
US7379821B2 (en) 2002-06-04 2008-05-27 Applera Corporation System and method for open control and monitoring of biological instruments
US7379823B2 (en) 2002-06-04 2008-05-27 Applera Corporation System and method for discovery of biological instruments
US7491367B2 (en) 2002-06-04 2009-02-17 Applera Corporation System and method for providing a standardized state interface for instrumentation
US7680605B2 (en) 2002-06-04 2010-03-16 Applied Biosystems, Llc System and method for discovery of biological instruments

Also Published As

Publication number Publication date
EP0954772A1 (fr) 1999-11-10
DE19751955A1 (de) 1999-06-02
JP2002511969A (ja) 2002-04-16
CA2278582A1 (fr) 1999-06-03

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