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WO2011110278A1 - Procédé de transfert du programme de travail d'un premier robot présentant des erreurs individuelles à un second robot présentant des erreurs individuelles - Google Patents

Procédé de transfert du programme de travail d'un premier robot présentant des erreurs individuelles à un second robot présentant des erreurs individuelles Download PDF

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Publication number
WO2011110278A1
WO2011110278A1 PCT/EP2011/000725 EP2011000725W WO2011110278A1 WO 2011110278 A1 WO2011110278 A1 WO 2011110278A1 EP 2011000725 W EP2011000725 W EP 2011000725W WO 2011110278 A1 WO2011110278 A1 WO 2011110278A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
errors
program
individual
individual errors
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/EP2011/000725
Other languages
German (de)
English (en)
Inventor
Franz Ehrenleitner
Carsten Meyer
Robin Kaufmann
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.)
Eisenmann SE
Original Assignee
Eisenmann SE
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 Eisenmann SE filed Critical Eisenmann SE
Publication of WO2011110278A1 publication Critical patent/WO2011110278A1/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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/40387—Modify without repeating teaching operation

Definitions

  • the invention relates to a method for transmitting the work program of a first robot subject to individual errors, under whose regime the "Tool Center Point” (TCP) of the first robot is guided on a trajectory defined by a plurality of support points, to a second one Individual error-prone robots of the same series.
  • TCP Tool Center Point
  • Direct programming also called on-1ine programming, works mainly with teach-in procedures.
  • a keyboard, z. B. a handheld programmer the industrial robot moved in a Cartesian coordinate system or axis-specific to the target positions and the results are stored in the controller.
  • the advantages of this direct programming method are that the industrial robot can be positioned based on the workpiece and that additional instructions can be entered directly.
  • the disadvantage is that the industrial robot fails during program creation for production.
  • the off-line simulation systems allow the direct description of the nominal trajectory in the basic coordinate system of the industrial robot.
  • a direct transfer of simulation programs into production is often not possible, because reality and ideal
  • Object of the present invention is to provide a method of the type mentioned in such a way that the mathematical and metrological effort is kept small.
  • This object is achieved in that a) a functional, working with the desired accuracy work program of the first robot is provided; b) the individual errors of the first robot are determined by measurement; c) eliminating the individual errors of the first robot from its functional work program, whereby a model-specific reference program is obtained; d) the individual error of the second robot through
  • the invention makes use of the knowledge that the large number of errors with which robots can be involved can be roughly divided into two groups:
  • the first group of errors includes all those determined by the series, which are common to all robots belonging to a particular series and which are subject to design by this series. These include, for example, joint elastics with and without load or elasticities. These errors are referred to here as "model-specific".
  • the other group of errors concern individual errors of the individual robot, ie those errors in which the considered robot also differs from robots of the same series. These include, in particular, axis position errors, arm length and angle errors, temperature influences, gearbox errors and stochastic errors.
  • the transmission of a work program from a first robot to a second robot is particularly simple because, in particular, all model-specific errors are eliminated. They can not be considered. These model-specific errors were already in the creation of the functional, with sufficient accuracy
  • Robot manufacturer provided ideal work program. Again, that applies to this
  • step b) no longer has to be carried out separately.
  • Position of the individual measuring points on the circular path can certainly change, without having any appreciable influence on the determined axis position.
  • FIG. 1 shows a flow chart of the method according to the invention
  • Measuring individual errors of a robot can take.
  • box 1 stands for a functional work program of a first robot Rl.
  • a "workable” work program is understood to be one which, with the required accuracy, is capable of guiding the so-called “Tool Center Point” (TCP) along a predetermined, specific trajectory which is defined by a plurality of support points is. Between these interpolation points, the program calculates an interpolation curve. "Sufficient" means that the sum of all errors in the movement of the TCP is within a certain tolerance window.
  • the way in which the "workable" work program represented by box 1 is obtained is irrelevant here.
  • the starting point for obtaining this functional program is always the program provided by the manufacturer of the robot and not always known in detail.
  • the series-related and individual errors of the robot Rl have been corrected in a suitable manner, for example by a "teach-in” method or by fully measuring all errors of the robot Rl and mathematical consideration by modification of the program provided by the manufacturer. It is crucial that the TCP of the robot Rl under the work program represented by the box 1, the predetermined trajectory everywhere with the desired accuracy.
  • the work program of the robot Rl is now to be transferred to a second robot R2, either because the robot Rl has to be serviced or repaired, either because a second production line is to be set up, which carries out the same work as that production line which is the first robot ter Rl belongs.
  • the first step in the transmission of the work program from the robot Rl to the robot R2 is that the individual errors of the robot Rl are measured. This is shown in box 2. Details of the measurement of this individual error will be discussed below. With knowledge of the individual errors of the robot Rl gained in step 2, it is now possible to do this through the
  • Box 1 represented working working program of the robot Rl to convert into a design-specific reference program.
  • the box 3 in FIG. 1 represents the arithmetic process, while the box 4 represents the type-specific reference program obtained.
  • Type-specific reference program is understood to mean a program which is freed from the individual errors of the robot R 1 but still contains the construction-site-specific errors. These model-specific errors require no consideration in the method according to the invention, since they are probably the robot Rl and the robot R2 own and in the creation of the
  • the model-specific reference program (box 4) is now applied to the robot R2, which comes from the same series as the robot Rl.
  • the robot R2 also possesses individual defects that need to be taken into account in addition to the type-specific errors that it has in common with the robot Rl. These individual errors of the robot R2 must be measured, which is represented by the box 5 in FIG.
  • the individual errors thus determined are calculated (Box 6) for the purpose of modifying fication of the construction-specific reference program used, whereby a functional work program (box 7) for the robot R2 is created. In carrying out this method, it is clearly not necessary to gain knowledge about the manufacturer's own program of robots.
  • the correction of the individual error occurs in that the robot R2 inputting bases whose coordinates do not coincide with those of the desired interpolation points of the trajectory, but whose input causes the TCP of the robot R2 to approach the desired interpolation points due to the individual errors.
  • the robot is the manufacturer of the
  • z. B. brought by the robot manufacturer set zero marks in the zero position. Then the individual deviations of the robot are determined by single-axis measurement. This happens because the axes of the robot are moved individually and from three measuring points on one
  • FIG. 2 shows the measurement of the first axis of the robot arm.
  • the measuring pose is chosen so that
  • FIG. 3 shows how the axis 3 of the robot can be measured. Even with the measurement pose shown here, it can be seen that, in the presence of errors other than errors in the position of the axis 3, the individual measurement points do not ideally match the desired measurement points; However, the actual measuring points remain essentially on the desired circular path, so that the determined position of the axis 3 largely coincides with the actual position of the axis 3.

Landscapes

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

Abstract

L'invention concerne un procédé permettant de transférer le programme de travail d'un premier robot (R1) présentant des erreurs individuelles, programme de travail sous la conduite duquel le point d'outil (PDO) dudit premier robot (R1) est guidé selon une trajectoire définie par une pluralité de points de reprise, à un second robot (R2) de la même série, présentant des erreurs individuelles, A cet effet, un programme de travail fonctionnel du premier robot (R1), opérant avec la précision voulue est préparé. Les erreurs individuelles du premier robot (R1) sont déterminées par des mesures, puis retranchées du programme de travail fonctionnel, ce qui permet d'obtenir un programme de travail spécifique de la série concernée. Les erreurs individuelles du second robot (R2) sont dès lors déterminées par des mesures et intégrées dans le programme de référence spécifique de la série concernée. Il en résulte un programme de travail fonctionnel du second robot (R2), opérant avec la précision voulue. Ce procédé n'implique pas de connaître ou d'intervenir dans le programme de fonctionnement élaboré par le constructeur des robots. Le nombre de mesures requises à effectuer pour déterminer les erreurs du second robot (R2) peut être maintenu faible, les erreurs spécifiques de la série concernée n'ayant pas à être prises en compte.
PCT/EP2011/000725 2010-03-10 2011-02-16 Procédé de transfert du programme de travail d'un premier robot présentant des erreurs individuelles à un second robot présentant des erreurs individuelles Ceased WO2011110278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010010919.3 2010-03-10
DE201010010919 DE102010010919A1 (de) 2010-03-10 2010-03-10 Verfahren zum Übertragen des Arbeitsprogrammes eines ersten mit Individualfehlern behafteten Roboters auf einen zweiten mit Individualfehlern behafteten Roboter

Publications (1)

Publication Number Publication Date
WO2011110278A1 true WO2011110278A1 (fr) 2011-09-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/000725 Ceased WO2011110278A1 (fr) 2010-03-10 2011-02-16 Procédé de transfert du programme de travail d'un premier robot présentant des erreurs individuelles à un second robot présentant des erreurs individuelles

Country Status (2)

Country Link
DE (1) DE102010010919A1 (fr)
WO (1) WO2011110278A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3063667A1 (fr) * 2017-03-13 2018-09-14 Staubli Faverges Procede de commande d'une cellule de travail automatisee

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4698572A (en) * 1986-04-04 1987-10-06 Westinghouse Electric Corp. Kinematic parameter identification for robotic manipulators
JPH09128026A (ja) * 1995-11-06 1997-05-16 Matsushita Electric Ind Co Ltd ロボット動作プログラム変換方式とその実行装置
DE10124044A1 (de) * 2001-05-16 2002-11-21 Kuka Schweissanlagen Gmbh Verfahren zum Kalibrieren eines Bahnprogramms

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5161101A (en) * 1989-04-28 1992-11-03 Nissan Motor Co., Ltd. Method of forming automatic machine operation program
DE4421699A1 (de) * 1994-06-21 1996-01-04 Hartmut Prof Janocha Verfahren zur sensorgestützten Anpassung oder Generierung von Posen zur Steuerung von Handhabungsgeräten zur Verbesserung der absoluten Posegenauigkeit dieser Handhabungsgeräte in Verbindung mit Off-line-Programmiersystemen und zur Übertragung von Roboterprogrammen auf verschiedene Exemplare der Handhabungsgeräte mit gleicher Aufgabe unter Reduzierung der Auswirkungen exemplarspezifischer Positionierunterschiede sowie Unterschiede im Aufbau der den einzelnen Handhabungsgeräten zugehörigen Arbeitszellen
DE19960933C1 (de) * 1999-12-17 2001-01-25 Audi Ag Verfahren zur Kalibrierung eines programmgesteuerten Roboters bezüglich eines in einer Bearbeitungsvorrichtung aufgenommenen Werkstücks
DE10150225A1 (de) * 2001-10-12 2003-04-17 Tecmedic Gmbh Verfahren zur Verringerung von Fehlern bei der Positionierung eines Roboters gegenüber einem Werkstück

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4698572A (en) * 1986-04-04 1987-10-06 Westinghouse Electric Corp. Kinematic parameter identification for robotic manipulators
JPH09128026A (ja) * 1995-11-06 1997-05-16 Matsushita Electric Ind Co Ltd ロボット動作プログラム変換方式とその実行装置
DE10124044A1 (de) * 2001-05-16 2002-11-21 Kuka Schweissanlagen Gmbh Verfahren zum Kalibrieren eines Bahnprogramms

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3063667A1 (fr) * 2017-03-13 2018-09-14 Staubli Faverges Procede de commande d'une cellule de travail automatisee
EP3375575A1 (fr) * 2017-03-13 2018-09-19 Staubli Faverges Procédé de commande d'une cellule de travail automatisée
US10737383B2 (en) 2017-03-13 2020-08-11 Staubli Faverges Method for commanding an automated work cell

Also Published As

Publication number Publication date
DE102010010919A1 (de) 2011-09-15

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