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WO2018197459A1 - Étalonnage d'un robot - Google Patents

Étalonnage d'un robot Download PDF

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Publication number
WO2018197459A1
WO2018197459A1 PCT/EP2018/060427 EP2018060427W WO2018197459A1 WO 2018197459 A1 WO2018197459 A1 WO 2018197459A1 EP 2018060427 W EP2018060427 W EP 2018060427W WO 2018197459 A1 WO2018197459 A1 WO 2018197459A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
measuring point
predetermined
measuring
detected
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/EP2018/060427
Other languages
German (de)
English (en)
Inventor
Helmuth Radrich
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.)
KUKA Deutschland GmbH
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 WO2018197459A1 publication Critical patent/WO2018197459A1/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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39021—With probe, touch reference positions
    • 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
    • G05B2219/39024—Calibration of manipulator

Definitions

  • the present invention relates to a method and a system for calibrating a robot as well as a robot arrangement with a robot and the system and to a computer program product for carrying out the method.
  • the robot can be calibrated on the basis of these initial positions and known positions of the measuring points. If the same measuring points are approached again later and one of each (measuring) pose of the robot is detected there, the robot can be (re) calibrated on the basis of a deviation between measuring and output poses.
  • the probe can be moved according to internal practice on the basis of a predetermined search pattern, for example a Lissajous figure, until it slides into a depression which defines the respective measuring point.
  • a predetermined search pattern for example a Lissajous figure
  • the object of the present invention is to improve a calibration of a robot.
  • Claims 11-13 provide a system or computer program product
  • a method of calibrating a robot comprises the steps of:
  • (B) (each) detecting a pose of the robot in which the (respective) measuring point has approached the reference and which is referred to herein as a measuring pose.
  • the robot may comprise a robot arm having at least three, in particular at least six, in particular at least seven,
  • Electric motors in particular be, in particular an industrial robot.
  • the robot exercises in
  • a predetermined reference load on the (respective) measurement point in one embodiment one for the respective measuring point and / or the reference individually predetermined or measuring point and / or reference specific (predetermined reference load or for several, in particular all measuring points the same
  • references in particular tools and / or buttons, used for calibrating a robot or this also on the basis yielding, in particular elastic (stored, measuring points and / or by means of yielding, in particular elastic (stored, robot-fixed references,
  • tools and / or probes can be precisely (r) calibrated, since (re) measuring conditions defined by the given reference load
  • the reference in particular a robot-guided tool and / or a robot-guided probe, yielding, in particular mechanically yielding, in particular elastic and / or elastic (on the robot) stored, as for example in robot-guided
  • reference loads can in one embodiment advantageously different compliances or
  • Elasticities of measuring points or structures, in particular on and / or in which they are arranged, and / or by references or supports of such references are taken into account.
  • more yielding or elastic (supported measuring points or structures and / or references or supports with lower forces and / or decaying of oscillations can be stressed for a longer time.)
  • the method be simplified in one embodiment.
  • the robot moves according to an embodiment or a possibly further aspect of the present invention to the reference, in particular compliant or even rigid, for starting the
  • control-technical or -bas movement of the robot, hand-guided (in the direction) to the measuring point to be moved or, in particular at least as needed, is moved.
  • the robot is at least (in the direction) to the measuring point to be compliant regulated.
  • the design deviates from the reference of an external force exerted manually on it, in particular by corresponding movement of the robot, in the direction of this force or in the direction of a, in particular Cartesian, component of this force
  • the area in which measuring points are automatically located or approached by means of the search pattern can be increased.
  • Switching over between manual manual guidance and moving the reference or searching for the (respective) measuring point on the basis of the given search pattern can be dispensed with and / or a starting of measuring points can be accelerated.
  • the predetermined reference load is already exercised, in particular already established during start-up or only during the subsequent cooldown or after its expiration.
  • the reference load may comprise a predetermined amount and / or a predetermined direction of a force exerted with the reference to the (respective) measurement point, in particular a (s) thereof.
  • the predetermined reference load in particular its magnitude and / or direction, and / or the predetermined decay time depends on a variable one- or multi-dimensional input parameter or can be predetermined or changed or set by this or its input.
  • the reference load or decay time in one embodiment can advantageously be adapted to different conditions, in particular different resiliences or elasticities of measuring points or structures on which they are arranged, and / or of references or their supports. For example, more flexible or elastic (stored measuring points or
  • a structure deforms, in particular on and / or into, the the reference load is elastic and / or non-plastic, or the reference load is predetermined such that in one embodiment the structure deforms (under or as a result of the predetermined reference load) by at least one %, in particular at least 10%, in particular at least 20%, and / or at most 99%, in particular at most 90%,
  • the predetermined reference load is in one embodiment at least 1%, especially at least 10%, especially at least 20%, and / or at most 99%,
  • the reference and / or a robot-side support, in particular storage, on which the reference is arranged under or as a result of the reference load elastic and / or non-plastic or is the reference load specified in such a way.
  • the reference or support deforms (under or as a result of the given reference load) by at least 1%, in particular at least 10%, in particular at least 20%, and / or at most 99%, in particular at most 90%, in particular at most 80%. , their maximum (possible elastic deformation or is or is the
  • Reference load is given such that a maximum (possible elastic deformation in particular a deformation of the reference or support in the case of straightened stress (immediately) below or before the onset of plastic or permanent deformation is understood
  • Execution of the predetermined reference load at least 1%, in particular at least 10%, in particular at least 20%, and / or at most 99%, in particular at most 90%, in particular at most 80%, one, in particular upper,
  • the predetermined decay time is at least 0.1 seconds [s], in particular at least 1 s, and / or at most 60 s.
  • vibrations of suitable elastic structures can decay sufficiently in one embodiment.
  • the robot can be calibrated in one embodiment on the basis of detected measurement positions and known measuring point positions, in particular a robot-fixed, in particular a robot base and / or a robot flange fixed, reference coordinate system measured with respect to the environment, in particular by parameters of a forward and / or one
  • the robot may be based on detected measurement positions and (already) initial positions of the robots detected on approaching the same measurement points on the basis of a deviation between measurement and measurement
  • Original positions (re) are calibrated, in particular by parameters of a forward and / or a backward transformation between a robot-fixed, in particular robot-base and / or a robot flange-fixed, in a manner known per se,
  • Reference and set by the measuring point positions ambient fixed coordinate system so specified or; may be modified to (re) calibrate a deviation between positions of the reference that associates an output (to be recalibrated) with output poses, and positions of the reference that associates that transformation, after being recalibrated, with corresponding measurement positions , especially on average, is reduced, in particular minimal, or becomes.
  • such a recalibration can advantageously also be carried out by means of compliant measuring points and / or references in one embodiment, if in one embodiment, due to the same measuring conditions, in particular elastic deformation of the structures on which the measuring points are arranged, and / or the reference or its support as a result of the same applied loads, the reference in starting and measuring positions has the same positions.
  • the method comprises the steps (steps (A) and (B)) preceding:
  • the robot in particular during, in particular overall, detecting (s) of the (respective) starting position with the reference (in each case), in particular for the (respective) measuring point and / or the reference, given reference load on this measuring point. Additionally or alternatively, in one embodiment between this approach of the (respective) measuring point and the
  • Detecting the (respective) output pauses at least the predetermined cooldown awaited.
  • the reference load and / or the cooldown may be in one
  • detecting the output pose (s) can be simplified.
  • a load exerted by the robot with the reference to the (respective) measurement point may be detected upon detection of the (respective) output pose, and the (respective) reference load may be predetermined based on that detected load, in particular this correspond detected load, and / or detected a time between this approach of the (respective) measuring point and the detection of the (respective) output pauses and the decay time are given on the basis of this detected time, in particular this detected time correspond.
  • the approaching of the (respective) measuring point comprises a
  • a measuring point can advantageously be detected, in particular precisely reliably and / or automatically approached, in particular (starting).
  • the approach of the (respective) measuring point in one embodiment comprises a, in particular automatic, moving the reference by the robot based on the predetermined search pattern and / or a preceding or a previous and / or a superimposing one or a simultaneous
  • the area in which measuring points are automatically located or approached by means of the search pattern can be (manually) displaced or enlarged.
  • a superimposed manual manual control can be omitted in one embodiment, a switching between manual guidance and moving the reference or search the (respective) measuring point based on the given search pattern and / or a start of measuring points can be accelerated.
  • moving the reference by the robot based on the predetermined search pattern comprises a, in particular Cartesian, impedance control and / or an applied force oscillation and / or the search pattern
  • Lissajous figure as it is known, for example, from the software KUKA Sunrise.OS 1.7 or its operating and programming instructions, to the additional reference and their contents are fully incorporated into the present disclosure.
  • the reference is through the impedance control
  • the measuring point is approached or is detected if a detected duration of a (minimum) restriction, in particular interruption, of the movement of the reference by the robot on the basis of the predetermined
  • Search pattern exceeds a, in particular predetermined, limit duration and / or a detected resistance against moving the reference by the robot based on the predetermined search pattern one, in particular predetermined,
  • Exceeds limit resistance Exceeds limit resistance.
  • a search or the approach of a measuring point is completed or found or approached if the reference, in particular due to a form-fitting
  • Movement of the reference (in the direction of) to the measuring point to no exceeding of the limit resistance and / or the limit duration detected, in one embodiment by a corresponding detection is ignored or suppressed or deactivated or as long as the reference hand-guided (moved) or This or a corresponding hand guide force is detected, and / or by the hand guide or hand guide force corresponding to the movement of the reference by the robot based on the
  • given search pattern is not limited to the limit duration, in particular interrupts or binds, or opposes her no resistance, the
  • the superimposed hand-guided movement of the reference (toward) to the measurement point in one embodiment is made to allow the robot to move the reference based on the predetermined search pattern at least to a predetermined degree, in particular the reference manually is fixed too rigid, so that one
  • Abort criterion, in particular abovementioned limit resistance or duration, of the automatic search on the basis of the given search pattern is not met or recorded.
  • a system in particular a (robot) controller, for calibrating a robot, in particular hardware and / or software, in particular program technology, for carrying out a here
  • Means for approaching at least one measuring point with a robot-fixed reference in particular a robot-controlled tool and / or probe, in particular sequential or successive approaching several i (n a) m (working) space (of the robot) distributed measuring points with the reference;
  • Measuring point is movable, in particular control technically evades a manually applied force on them in the direction of this force or a component of this force.
  • system or its agent has:
  • Measuring point moving the reference by the robot based on the predetermined search pattern and / or upstream and / or superimposing a hand-held
  • an impedance regulator in particular with connected force vibration; and / or means for detecting a duration, in particular exceeding a
  • Limit duration a restriction of the movement of the reference by the robot based on the predetermined search pattern and / or a resistance, in particular exceeding a limit resistance, against moving the reference by the robot based on the predetermined search pattern for detecting a approached measuring point;
  • 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 such that it embodies or is capable of carrying out the methods described herein. so that the CPU steps the step * snlr.h p r Perform method and thus in particular control the robot or
  • 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 robot assembly comprises a robot and a system for calibrating the robot as described herein.
  • the or one or more of the measuring point (s) are arranged stationary or permanently or temporarily or non-destructively releasably in an environment of the robot.
  • the robot assembly comprises the measuring point (s).
  • One aspect relates to a computer program product having a program code stored on a computer-readable medium for carrying out the method according to the invention.
  • the method may be a computer-implemented method, which is executed in particular on a computer or means of a robot controller belonging to the robot.
  • Fig. 1 a robot assembly with a robot and a system for
  • FIG. 3 shows a method for calibrating the robot according to an embodiment of the present invention.
  • Fig. 1 shows a robot arrangement with a robot 10 and a controller 20 for calibrating the robot 10 according to an embodiment of the present invention in a side view.
  • the robot 10 moves a feeler 11 as a preferred embodiment of a reference 11 on the basis of a predetermined search pattern by a Cartesian impedance controller 20 controls the button 11 virtually binds to a search start position and a two-axis force oscillation is switched so that the undisturbed button 11 a dashed lines in Fig. 2 indicated Lissajous figure leaves.
  • a tool 1 1, a measuring tip 11, a sensor 11, etc. may also be arranged on the robot 10. If an operator (not shown) recognizes that the distance of this search start position from the actual measurement point 31 is too great that the robot 10 does not hit the recess 31 (presumably) with his probe when the Lissajpus figure is being lowered, he pulls the Button 11 guided by hand in the direction of the measuring point or the recess 31 in the carrier 30, as indicated in Fig. 2 by a hand-guided movement or displacement or manually exercised hand guide 41.
  • the detection * of this termination criterion can also be suspended as long as a hand-guiding force is detected.
  • the measuring point 31 is elastically supported in the thin carrier 31 and a compliant measuring point, which elastically evades when starting with the probe 11.
  • the controller 2 performs a method explained below with reference to FIG. 3.
  • a step S10 the flexible measuring point 31 is first approached with the button 11 and then waited at least for a predetermined decay time. Subsequently, in a step S20, the pose of the robot 10 is detected by measuring its joint angles qi-q 5 .
  • a predetermined reference force F is exercised with the probe 11 to the measuring point 31, which is indicated in phantom in Fig. 1.
  • This pose detected in step S20 is stored as a starting pose and the next measuring point is processed in an analogous manner (S30).
  • the force which the robot exerts on the measuring point 31 with the probe 11 can also be increased during or after its startup until a desired elastic deformation of the carrier 30 results, and this force is then used as the reference force F for this measuring point be stored.
  • the measuring points in particular the compliant measuring point 31 represented by way of example, are approached again.
  • the corresponding parameters of the transformation can be adapted so that the joint angles q r q 5 measured in the measurement pose correspond again to the same position of the probe 11 in measuring point or recess 31 as in FIGS Initial pose measured joint angles qq 5 , since due to the reproduced load or elastic deformation of the carrier 30, this position of probe 11 or measuring point or recess 31 should match.
  • the robot 10 must now assume a larger joint angle q 2 and a smaller joint angle q 3 for approaching the measuring point 31 on the carrier elastically deformed in the same way than in FIG.
  • the two aspects can advantageously be combined with one another by measuring point 31 in steps S10 and / or S40 in the manner described above with reference to FIG. 2 with automatic movement of the Lissajous FIG. 30 through the pushbutton 11 and superimposed hand guide 41 to the measuring point 31 is approached or searched. Likewise, these two aspects can also be realized individually. Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible.
  • the measuring point 31 is elastically supported in the thin carrier 31 or a yielding measuring point which elastically deflects when starting with the probe 11. Additionally or alternatively, in a modification, not shown, also a compliant robot-fixed reference,
  • an elastically (on the robot) stored or supported tool can be used.

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

Abstract

L'invention concerne un procédé d'étalonnage d'un robot (10) comprenant les étapes suivantes : atteinte (S40) d'au moins un point de mesure (31) par une référence (11) à demeure sur le robot, et détection (S50) d'une position de mesure (q-i-q5) du robot dans laquelle ledit point de mesure a atteint la référence, le robot exerçant pendant la détection de la position de mesure par la référence (11) une force de référence prédéfinie (F) sur le point de mesure (31) et le point de mesure et/ou la référence étant flexibles, et/ou le robot déplaçant la référence (11) pour atteindre le point de mesure (31) sur la base d'un modèle de recherche prédéfini (40), la référence (11) pouvant alors et/ou avant être déplacée manuellement sur le point de mesure (31).
PCT/EP2018/060427 2017-04-25 2018-04-24 Étalonnage d'un robot Ceased WO2018197459A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017003993.3 2017-04-25
DE102017003993.3A DE102017003993B4 (de) 2017-04-25 2017-04-25 Kalibrierung eines Roboters

Publications (1)

Publication Number Publication Date
WO2018197459A1 true WO2018197459A1 (fr) 2018-11-01

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Application Number Title Priority Date Filing Date
PCT/EP2018/060427 Ceased WO2018197459A1 (fr) 2017-04-25 2018-04-24 Étalonnage d'un robot

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DE (1) DE102017003993B4 (fr)
WO (1) WO2018197459A1 (fr)

Cited By (2)

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CN115416018A (zh) * 2022-08-17 2022-12-02 雅客智慧（北京）科技有限公司 末端执行器形变补偿方法、装置、电子设备和存储介质
CN116494254A (zh) * 2023-06-28 2023-07-28 佛山隆深机器人有限公司 工业机器人位置校正方法和工业机器人

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DE102019131401B3 (de) * 2019-11-21 2020-10-29 Franka Emika Gmbh Kalibrierung einer Impedanzregelung eines Robotermanipulators
DE102021212128B8 (de) 2021-10-27 2023-04-06 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines lasttragenden Roboters sowie zum Ermitteln eines Parameters der Last des Roboters
DE102021214721B3 (de) 2021-12-20 2023-05-04 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters

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US5687293A (en) * 1993-11-15 1997-11-11 Asea Brown Boveri Ab Method and device for calibration of movement axes of an industrial robot
EP2322897A1 (fr) * 2009-11-11 2011-05-18 Günther Battenberg Dispositif et procédé destinés à la mesure de pièces à usiner basé sur une machine pour mesurer des coordonnées optiques et mécaniques

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SE9804450D0 (sv) * 1998-12-17 1998-12-17 Robotkonsult Ab Metod och anordningar för automatisk in-line kalibrering av robot, verktyg och cell
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Publication number Priority date Publication date Assignee Title
US5687293A (en) * 1993-11-15 1997-11-11 Asea Brown Boveri Ab Method and device for calibration of movement axes of an industrial robot
EP2322897A1 (fr) * 2009-11-11 2011-05-18 Günther Battenberg Dispositif et procédé destinés à la mesure de pièces à usiner basé sur une machine pour mesurer des coordonnées optiques et mécaniques

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115416018A (zh) * 2022-08-17 2022-12-02 雅客智慧（北京）科技有限公司 末端执行器形变补偿方法、装置、电子设备和存储介质
CN115416018B (zh) * 2022-08-17 2024-03-15 雅客智慧（北京）科技有限公司 末端执行器形变补偿方法、装置、电子设备和存储介质
CN116494254A (zh) * 2023-06-28 2023-07-28 佛山隆深机器人有限公司 工业机器人位置校正方法和工业机器人
CN116494254B (zh) * 2023-06-28 2023-08-25 佛山隆深机器人有限公司 工业机器人位置校正方法和工业机器人

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Publication number Publication date
DE102017003993B4 (de) 2020-12-10
DE102017003993A1 (de) 2018-10-25

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