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WO2019063146A1 - Bras de robot et son procédé de commande - Google Patents

Bras de robot et son procédé de commande Download PDF

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Publication number
WO2019063146A1
WO2019063146A1 PCT/EP2018/066534 EP2018066534W WO2019063146A1 WO 2019063146 A1 WO2019063146 A1 WO 2019063146A1 EP 2018066534 W EP2018066534 W EP 2018066534W WO 2019063146 A1 WO2019063146 A1 WO 2019063146A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
robot arm
motor
axis
payload
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/EP2018/066534
Other languages
English (en)
Inventor
Jonathan STYRUD
Arne WAHRBURG
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.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
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 ABB Schweiz AG filed Critical ABB Schweiz AG
Publication of WO2019063146A1 publication Critical patent/WO2019063146A1/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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—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
    • G05B2219/40317—For collision avoidance and detection

Definitions

  • the present invention relates to a robot arm and to a control method therefore, in particular for detecting an irregular condition in which an ongoing operation of the robot may have to be interrupted or aborted due to an unforeseeable incident.
  • a typical example of such an irregular condition is a contact between the robot arm and a person; if such a contact occurs, the movement of the robot arm must be stopped immediately in order to avoid injury .
  • US 8788093 B2 discloses a robot arm in which a force sensor detects a force caused by contact between the robot arm and a person, and in which a movement of the robot arm is stopped when the detected force exceeds a threshold.
  • the force detec- tor cannot detect a contact of a person with a region of the robot arm extending between itself and a base; therefore, contact is prevented by confining this region behind a wall.
  • Possibilities for interaction between the robot and a person are guite limited, since only an end effector of the robot can reach through an opening in the wall. Since the opening is just large enough for the end effector to pass, navigating through it tends to be time-consuming, and a possible exchange of objects between the robot and the person is limited since the robot lacks means to distinguish between the weight of an object and a force caused by contact with the person.
  • US 2016/339 585 Al discloses method of operating a robotic system in which a known relationship between motor current and motor torque is used to calculate from a motor current measurement taken at the axis motors of the robotic system various parameters including payload balance, mass, moment of inertia, friction force and traction force.
  • the motor is controlled to hold the payload static in at least three angular positions, and for each position there is determined a respective torque applied by the motor to hold the payload static. This process has to be repeated every time the robot seizes an object of unknown weight.
  • the object of the present invention is to provide a robot arm and a method for operating it that enable the robot to safely cooperate with a person while imposing less restrictions on their possible inter- action.
  • this object is achieved by a method of controlling a robot arm, the robot arm comprising at least one mem- ber, a joint by which the member is connected to a support and which defines an axis by which the member is rotatable with respect to the support, and a motor for driving rotation of the member by said axis, the method comprising the steps of a) calculating a torque output by the motor based on motor power intake and motor rotation;
  • step c) deciding that the joint is in an irregular condition if the discrepancy exceeds a threshold, wherein in step c) internal friction of the
  • the calculation of the expected rotation acceleration doesn't have to be exact; however, the degree of accuracy of the calculation should be taken into account when defining the threshold of step d) , in order to minimize the probability that the decision taken in step d) is objectively wrong (i.e. that an irregular condition goes undetected, or that the condition is decided to be irregular while in fact it isn't.)
  • the degree of accuracy of the calculation should be taken into account when defining the threshold of step d) , in order to minimize the probability that the decision taken in step d) is objectively wrong (i.e. that an irregular condition goes undetected, or that the condition is decided to be irregular while in fact it isn't.)
  • the parameters actually influencing the rotation acceleration should be known with good accuracy, but not all have to.
  • the gravity-induced torgue acting on the member It can be calculated based on orientation of the axis, an angle of rotation of the member by said axis, the mass of the member and the distance between its centre of gravity and the axis. While the mass can be assumed to be constant under regular conditions, the distance between its centre of gravity and the axis may vary, in particular if the member comprises at least two components which are movable with respect to each other.
  • Another important parameter that should be known when calculating the expected rotation acceleration is the moment of inertia of the member; it may also vary when components of the member move with respect to each other.
  • Dynamic and static friction coefficients that can be used for calculating a friction torque can be obtained e.g. as described in US 2016/339 585 ⁇ 1 , by gradually increasing mo- tor torque until rotation sets in, and gradually reducing it until rotation stops.
  • Friction in a joint will usually be increased if the joint is subjected to a vector torque perpen- dicular to its axis.
  • the weight of an arm member carried by the joint will generate a torque, and how much of this torque is perpendicular to the axis of the joint depends on the orientation of the axis in space. Therefore, the internal friction should be calculated based on the gravity-induced torque exercised on the joint by the member.
  • One kind of irregular condition is the robot arm being in contact with a person. In order to avoid injury of the person in such a condition, the robot arm should be halted.
  • the torque generated by a motor is controlled to outweigh any gravity-induced torque but not to overcome friction, so that the robot arm is at rest but free to be moved by an outside force. This ena- bles the person to free him/herself from contact with the robot arm by pushing the robot arm away.
  • the gravity-compensated mode of operation can be a lead-through mode in which not only the robot arm is freely moveable by hand but its controller is also adapted to learn and reproduce any movement the robot arm is lead through. So the person can at any time stop an unwanted movement of the robot arm by simply and intuitively taking it by the hand, thereby bringing it into lead-through mode, and and guiding it through the desired movement instead.
  • An appropriate reaction in such a case, would be a step of f) updating at least one parameter of the member used in step b) for calculating the expected rotation acceleration in a way to reduce the discrepancy .
  • the at least one updated parameter preferably is the mass of the payload and/or the position of the centre of gravity of the payload relative to the end effector.
  • step f) should be enabled by a change of the payload only.
  • a controller which controls movements of the robot arm will also con- trol its end effector. It will thus be inherently “aware” of whether it has carried out a change of the payload and enable a parameter update if (and as soon as) it has. For other parameters, it may be advisable to update them continuously. This holds true in particular for the friction of the joint, which is likely to change noticeably over periods of time which are far longer than the time the robot spends handling a specific payload.
  • Such a continuous update of parameters can be carried out conveniently if the calculation of the ex- pected rotation acceleration is a prediction by a Kalman filter.
  • a robot system comprising a robot arm and a controller, the robot arm comprising at least one member, a joint by which the member is connected to a support and which defines an axis by which the member is rotatable with respect to the support, and a motor for driving rotation of the member by said axis, wherein the controller is adapted to control the motor using the method described above.
  • the member comprises several components such as a second-order base, a second-order member, a second-order joint and a second-order motor, the second-order base extending between said joint and said second-order joint
  • the controller can use the above-described method for controlling also the second-order motor.
  • the decision whether the reaction to an irregular condition should be a parameter up- date or a halt can be made by combining discrepancies of the first and second order joints. Since the second-order joint is closer to an end effector than the first-order joint and carries less weight, a discrepancy due to a change of payload will cause a more pronounced discrepancy in the second-order joint than in the first-order joint. If the discrepancy is more pronounced in the first-order joint, or if there is no significant discrepancy at all in the second-order joint, then it can only be due to a force acting on the second-order base. In this case, since the force cannot be due to a change of payload, it is always appropriate to halt the robot .
  • the invention can further be embodied in a computer program product comprising program code means which enable a computer to perform the method described above .
  • FIG. 1 schematically illustrates a robot system according to the invention
  • Fig. 2 is a flowchart of an operating method carried out by a controller of the robot system of Fig. 1.
  • Fig. 1 illustrates a robot system comprising a robot arm 1 and its associated controller 2.
  • the ro- bot arm 1 comprises a support 3, a member 4 and a joint 5 which connects the support 3 to a first link 6 of member 4 and enables rotation of the member 4 with respect to the support 3 by one or two axes, e.g. a zenith axis 7 and an azimuth axis 8 which is perpendicular to and rotatable about zenith axis 7.
  • motors 15, 17 for driving rotation of the member 4 about axes 7, 8 are provided inside the link 6, the joint 5 or the support 3.
  • the joint 5 further comprises rotary en- coders 16, 18 associated to each axis 7, 8, which provide the controller 2 with data on azimuthal and zenithal orientation of link 6, by which an angular position and, by repeated measurements, an angular velocity can be derived.
  • the member 4 can be regarded as comprising a second order support, namely link 6, a second order joint 9 and a second order member 10, which is pivotably connected to link 6 by joint 9.
  • a motor 19 is provided for driving rotation of the member 10, and a rotary encoder 20 supplies data on the orientation of member 10 with respect to link 6 to controller 2.
  • Member 10 can be regarded as comprising a third order support, namely link 12 connected to joint 9, a third order joint 13 and a third order member, namely end effector 14.
  • ⁇ motor 21 is provided for rotating the end effector 14, and a rotary encoder 22 is there to monitor the rotation.
  • Controller 2 defines a coordinate system in which support 3 is at rest.
  • joint 5 can be chosen as the origin of this coordinate system.
  • the position of second-order joint 9 is straightforwardly calculated based on the known, constant length of first link 6 and the angles q provided by encoders 16, 18.
  • link 6 is divided into two portions 6', 6" rotatable with respect to each other around a longitudinal axis 23 by a motor 24, and a rotary encoder 25 monitors rotation of the motor.
  • a unit vector representative of the orientation of axis 11 is obtained by rotating the vector of axis 8 by the angle q detected by encoder 25. In this way, step by step, all coordinates of the centres of gravity of links 6, 12, etc.
  • controller 2 In operation, at a given instant t, controller 2 reads angles q from the various rotational encoders 16, 18, 20, 25... (step SI of Fig. 2) . Using angles obtained in previous measurements, angular velocities q and angular accelerations are obtained in
  • step S2 The processing of controller 2 being similar for all joint, it will subsequently be described, as a matter of example, referring to joint 9 only.
  • the inertia matrix M(q) of the member 10 is calculated. Calculation of this matrix M(q) takes into account the momentary shape of member 10, i.e. the angles of all its joints, and, if pre- sent, the mass, and, possibly, the lever arm length, of a payload attached to end effector 14.
  • Coriolis torque is obtained.
  • step S4 the controller 2 calculates the effect of friction by the following law:
  • Expression (2) allows for asymmetry in both Coulomb and viscous friction, by allowing Coulomb and viscous friction parameters to
  • bodiment considered here uses four such terms, depending on the sign of i.e. on the direction of rotation of the joint, and on the sign of i.e.
  • v s is the Stribeck velocity and c s is the static friction coefficient (which may also depend on the direction of rotation) .
  • ... can be determined and employed in eg.
  • the controller 2 further detects current intake of motor 19 and calculates motor torgue based on
  • the vector is calculated in step S6. Under normal operating conditions, should be below a predetermined threshold,
  • controller 2 moves the robot arm 1 along a previously programmed path over a short distance or for a short period of time (S8) and then returns to step SI.
  • step S9 the controller checks in step S9 whether there might have been a change of payload. This can be done by checking a flag which is set whenever the end effector 14 is operated to seize or to release a piece of payload or when the end effector 14 is at a location where, according to the programmed path, payload should be seized or released. If this flag is set, the controller 2 enters a mass detection procedure. In this procedure, while still moving the robot arm 1 along the programmed path and assuming, when calculating M, C and G, that the payload is unchanged, the controller collects values of under various postures of the robot arm 1, i.e.
  • the estimate (Sll) will be carried out by least-squares fitting a payload mass and, possibly, a lever arm length 1 of the payload, to the collected values of
  • step S9 In one out of two cases in which a change of pay- load is detected in step S9, the end effector 14 has released its payload, i.e. the true payload mass is zero. Still, in these cases the estimate of step Sll may yield a value of which is differ
  • Step S12 checks whether is below a predetermined threshold thrl close to zero. If it is, it is assumed that the end effector 14 is indeed empty, and that, therefore, the current value of m pay is in fact a measure of the error in the calculation of the payload. In that case, the collected values of will be stored (S13) , and a moving average of the error is updated (S14) by the present value If exceeds a second threshold thr2 ⁇
  • the flag may then be reset unconditionally in step S17, before returning to step SI.
  • it is reset under a condition, e.g. only if the quality of the fit exceeds a predetermined threshold, so that if in the next iteration step an irregular condition is found again while the flag is not yet reset, the mass detection procedure can be resumed and new values of can be included in the fit. In this way, the time the controller 2 spends in the mass detection procedure can be minimized, be- cause only few values of have to be collected before a first estimate of the new payload can be made .
  • step S20 There might be the case that the values of vary in a way which cannot be ascribed to a single pay- load weight. This may happen if a person deliberately holds or tries to move the robot arm 1. In that case the method branches to step S20, described below.
  • the controller 2 can check (S18) whether the value of that led to the irregular condition would fit payload zero or a previously deter- mined payload. If it does, it sets the payload to zero or to the previously determined value in step S19, and returns to step SI; else it begins to collect values of as described above. In that way, the duration of the mass detection procedure is ef- ficiently minimized in case the robot arm carries out a repetitive operation in which it e.g. transfers payload objects of identical weight from a location A to a location B and returns from B to A without payload.
  • step S9 if there is no reason in step S9 to assume a change of payload, i.e. if the flag is not set, then the fact that is most proba-
  • the controller 2 halts the robot arm 1 in step S20. Halting the robot arm 1 is preferably done by abruptly and actively braking it. However, once the robot arm 1 has come to a halt, the controller enters a gravity-compensated mode (S21) in which the joints of the robot arm 1 are not braked, but just enough torque is generated in its motors 15, 17, ... to overcome gravity and, preferably, also internal friction of the joints 5, 9 etc.. Thus, a person who unintentionally got into contact with the robot arm 1 can push the robot arm 1 away without effort.
  • a gravity-compensated mode S21
  • the transition to gravity-compensated mode can be accompanied by a switchover (S22) from autonomous operation to lead-through operation.
  • S22 switchover
  • an attendant notices an inadequate movement of the robot arm 1, he can intercept it by simply taking it by the hand and leading it through the correct movement.
  • the controller 2 comes to different conclusions depending on which joint it monitors. If e.g. link 12 hits a person, this will have an effect on of joints 5 and 9, but (except for
  • step S20 can be carried out immediately for all joints of the robot arm 1 regardless of whether a payload change flag is set or not.
  • the safety for persons is increased even immediately after a payload change.
  • the robot in lead-through operation the robot has to be guided holding it by a distal region, i.e. by its end effector or by a link to which the end effector is attached.
  • the robot arm may be halted (S20) and brought into gravity-compensated mode (S21) under the same conditions as described above, but a switchover into lead-through mode (S22) occurs only if the irregular condition is detected in distal joint 13.
  • step S7 the method proceeds to calculate torques at all joints of robot arm 1 in step S9a. If the irregularity is due to a change of the payload mass by i.e. a change of the force acting on end effector 14 by is at the origin of these torques, then the joints should be subject to torques wherein r is the vector distance between the end effector and the joint. Of this vector torque on- ly the component parallel to the axis of the joint has an effect on its associated motor, i.e. if d is a unit vector in the direction of the axis, then should hold, or in other terms, the ratio should be the same for all joints.
  • Step 9b calculates p for each joint.
  • step 9c the difference between the highest and the lowest value of p is compared to a predetermined thresh- old; if the difference is below the threshold, it is concluded that the irregularity is due to a change of payload, and the method branches to a mass detection procedure S11-S17 as described above referring to Fig. 2. If the threshold is exceeded, the force at the origin of the torgues cannot be compared to a predetermined thresh- old; if the difference is below the threshold, it is concluded that the irregularity is due to a change of payload, and the method branches to a mass detection procedure S11-S17 as described above referring to Fig. 2. If the threshold is exceeded, the force at the origin of the torgues cannot be a mass detection procedure S11-S17 as described above referring to Fig. 2. If the threshold is exceeded, the force at the origin of the torgues cannot be a mass detection procedure S11-S17 as described above referring to Fig.

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

Abstract

L'invention concerne un bras de robot (1) comprenant au moins un élément (4,10), une articulation (5, 9) par laquelle l'élément (4, 10) est relié à un support (3, 6) et qui délimite un axe (7, 8, 11) selon lequel l'élément (4, 10) peut tourner par rapport au support (3, 6), et un moteur (15, 17, 19) destiné à entraîner l'élément (4, 10) en rotation selon ledit axe (7, 8, 11). Un procédé de fonctionnement du bras de robot comprend les étapes consistant : a) à calculer (S5) un couple (Ƭ mot ) produit par le moteur (15, 17, 19) sur la base de l'admission de la puissance motrice et de la rotation du moteur; b) à détecter (S3) une accélération de rotation réelle (I) de l'élément (4, 10), c) à calculer (S6), sur la base dudit couple (Ƭ mot ), une quantité (Ƭ ext ) représentative d'un écart entre une accélération de rotation attendue de l'élément (4, 10) et ladite accélération de rotation réelle (I), et d) à décider que l'articulation se trouve dans un état irrégulier si l'écart (II) dépasse un seuil (ε).
PCT/EP2018/066534 2017-09-18 2018-06-21 Bras de robot et son procédé de commande Ceased WO2019063146A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17191592 2017-09-18
EP17191592.9 2017-09-18

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020246997A1 (fr) * 2019-06-03 2020-12-10 Covidien Lp Système et appareil d'observation et de compensation de couple externe pour bras robotique chirurgical
CN117036489A (zh) * 2023-10-10 2023-11-10 泉州装备制造研究所 基于人工标识和四目全景相机的机器人定位方法及设备
EP4052863A4 (fr) * 2019-11-01 2023-12-06 Neuromeka Procédé de compensation du frottement d'un robot coopératif à degrés de liberté multiples
CN118876064A (zh) * 2024-08-27 2024-11-01 南京鑫荔电子科技有限公司 一种用于工业机器人的智能控制方法及系统

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US8788093B2 (en) 2010-08-17 2014-07-22 Fanuc Corporation Human robot interactive system
US20160339585A1 (en) 2015-05-18 2016-11-24 Ross Video Limited System and method for robot operating environment discovery

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US8788093B2 (en) 2010-08-17 2014-07-22 Fanuc Corporation Human robot interactive system
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020246997A1 (fr) * 2019-06-03 2020-12-10 Covidien Lp Système et appareil d'observation et de compensation de couple externe pour bras robotique chirurgical
CN112566583A (zh) * 2019-06-03 2021-03-26 柯惠Lp公司 用于手术机器人臂的外部扭矩观测和补偿的系统和设备
US12245900B2 (en) 2019-06-03 2025-03-11 Covidien Lp System and apparatus for external torque observation and compensation for surgical robotic arm
EP4052863A4 (fr) * 2019-11-01 2023-12-06 Neuromeka Procédé de compensation du frottement d'un robot coopératif à degrés de liberté multiples
US12440975B2 (en) 2019-11-01 2025-10-14 Neuromeka Method for compensating for friction of multi-degree-of-freedom cooperative robot
CN117036489A (zh) * 2023-10-10 2023-11-10 泉州装备制造研究所 基于人工标识和四目全景相机的机器人定位方法及设备
CN117036489B (zh) * 2023-10-10 2024-02-09 泉州装备制造研究所 基于人工标识和四目全景相机的机器人定位方法及设备
CN118876064A (zh) * 2024-08-27 2024-11-01 南京鑫荔电子科技有限公司 一种用于工业机器人的智能控制方法及系统

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