System and method for the spatial movement of an object

专利摘要:
The invention relates to a system (1) and a method for spatial movement of an object (2) by means of a manipulator (3), which object (2) is at least temporarily coupled to the manipulator (3) in motion. In this case, a movement presetting means (5) is provided which can be moved freely in space by an operator at least temporarily, and which movement predetermining means (5) at least temporarily provide for physical coupling with the object (2) to be moved is. In its coupling state, the motion specification means (5) for the transmission of motion commands by the In the motion specification means (5) inertial sensors for detecting at least orientation changes of the motion specification means (5) are integrated. Ei alternating orientations of the motion specification means (5) in space, wherein the control technical execution of at least one of the Bewegungsungskom- mandos is at least partially dependent on the orientation of the motion specification means (5).
公开号:AT518481A1
申请号:T50184/2016
申请日:2016-03-07
公开日:2017-10-15
发明作者:Ing Christoph Mittermayer Dipl
申请人:Keba Ag；
IPC主号:

专利说明:

The invention relates to a system for spatially moving an object by means of a manipulator, in particular by means of an industrial robot, and to a method for operating a manipulator controlled by an electronic control device, which manipulator is provided for the spatial movement of an object.
The specified invention can be used mainly in the environment of the robot or drive-assisted assembly. Wherever electrically controlled lifting devices are used for moving, joining and assembling large and sometimes heavy components, for example in the partially automated production of vehicles or the like, the system and method according to the invention can be advantageously used. While industrial robots in the field of mass production of vehicles can perform a variety of machining and assembly operations autonomously, that is, without further participation of people, there are also cases in the field of finishing and the joining of larger components, where it on an exact positioning or on a accurate threading and the consideration of tolerances and compliances matters. Especially with system-related, sporadically occurring tolerances, fully automatic systems quickly reach their limits. In particular, there are assembly or joining processes in which a precise visual control and a management or influencing of the process by a human is crucial. For this it is necessary that the operator can freely move the component to be attached in several dimensions, but the weight of the component for reasons of ergonomics should be largely carried or moved by technical aids, so that the Mon teur the component with relatively little effort can handle. So far, hoists have sometimes been used for this purpose, which could only compensate for the vertical force component due to the weight of a component predominantly or completely and the movement is done in all other dimensions alone by the power of the fitter. There are also handling devices, in particular crane systems, which enable a drive-assisted handling of workpieces for their movement in all other dimensions.
The components themselves, for example windshields, vehicle seats, motors, etc., are often received by special holding devices, which holding devices are attached to a boom or robot arm or can be coupled thereto. In the case of robots, various operating elements are arranged, for example, directly at predetermined locations on the holding device, with which the direction of travel of the holding device can be specified by the operator.
According to a known embodiment, an electronic motion specification means, for example in the manner of a handle, can be provided, as described in DE102009012219A. This handle can be attached by means of, if necessary, releasable fastening means on a comfortable for the fitter in the particular situation position on the workpiece. The corresponding handle has a generally multi-dimensionally acting control element or a multi-dimensionally detecting force / torque sensor, which or which the fitter actuates for the transmission of motion commands in the direction of the respectively desired traversing or rotational direction. Since the handle can be mounted at different positions and also in different orientations with respect to the workpiece and with respect to the robot's world coordinate system, at least the orientation of the handle with respect to the robot's world coordinate system must be known, so that the actuating direction of the operating element, which first with respect to a local coordinate system of the motion specification means, in which direction can be translated with respect to the world coordinate system. For the purpose of detecting the orientation of the handle on the component, DE102009012219A1 discloses the use of gravity or acceleration sensors.
In the previously known embodiment according to DE102009012219A1 has been disregarded that the position and orientation of the handle in space can not be determined directly via the acceleration sensors, but can be determined only on the basis of a known reference position. In addition, the positions and orientations of the grip present at the respective times must be determined by continuous integration of the time-discrete provided sensor signals, whereby the sensor signals change as a result of the movement executions. Furthermore, such sensor signals are subject to errors, in particular to random or systematic errors, which accumulate through integration over time and gradually lead to ever greater deviations between the calculated and the actual position and orientation. In the device according to DE102009012219A1, therefore, a recalibration of the device will be required at regular intervals or in unpredictably varying periods of time. The actual position of the handle in the room must be determined by taking and confirming a known reference position. The time intervals for such a recalibration are currently in the order of a few minutes with respect to conventional or economically expedient acceleration sensors, insofar as the determination of the orientation is limited and a determination of the position in space is disregarded.
Although these regular recalibrations can sometimes be integrated into the production cycle during cyclical manufacturing processes, they nevertheless represent additional unwanted actions on the part of the operator. In particular, these recalibrations required at regular or irregular intervals can impair the handling and / or the workflow cause additional production times. In addition, there may be instances where some manufacturing cycles take longer, which then requires interim recalibration.
DE102014004919A1 likewise discloses a handle for releasable attachment to a workpiece, which handle is provided for the delivery of movement commands to a robot, wherein the orientation of the handle is also determined by means of acceleration sensors and the movement commands depending on the orientation of the handle, the robot movements influence. The process of recalibration is carried out here by predetermined or known test movements of the robot after the handle has been virtually coupled with the interposition of the workpiece to the robot. During this short test movement of the robot, the acceleration sensors respond in the grip. The test movement of the robot detected by the acceleration sensors in the grip then draws conclusions about the actual orientation of the motion specification means with respect to the robot's world coordinate system. Subsequent changes in the position of the handle are tracked and calculated by means of the acceleration sensors integrated in the handle. The inherent problem of temporal drift of the sensory and computationally determined orientation of the handle according to the sensor error remains. In addition, for example, after a longer standstill or after a longer-lasting or highly dynamic cycle of motion to perform a recalibration. Apart from the fact that the performance of such test movements for recalibration of the entire system is not possible in all cases or not with all types of workpieces, especially in very large components or in very tight spaces, these test movements require a certain amount of time, the cycle times in the series production undesirably extended.
The object of the present invention was to overcome the drawbacks of the prior art and to provide an improved apparatus and an improved method by means of which a user is able to provide a simple and as intuitive as possible manual guidance of manipulators, in particular of industrial robots. to be able to make.
This object is achieved by an apparatus and a method according to the claims.
An inventively constructed technical system is used for the spatial movement of an object by means of a manipulator. Under such an object are to be understood in particular components or workpieces to be mounted. The object is at least temporarily motion-coupled with the manipulator, for example an industrial robot. The corresponding system further comprises a movement specification means, which is at least temporarily freely movable in space by an operator, and which motion specification means is provided at least temporarily for physical or mechanical coupling with the object to be moved. In its active coupling state with respect to the object, the motion specification means is provided for the transmission of movement commands by the operator with respect to a control device of the manipulator. Inertial sensors in the motion specification means serve at least for detecting orientation changes of the motion specification means with respect to the three-dimensional space, and an orientation determination unit is provided for continuously determining the changing orientations of the motion specification means in space. The control engineering execution or implementation of at least one of the motion commands is at least partially dependent on the time- and motion-dependent varying orientations of the motion specification means. In addition, an electronic evaluation or detection means is provided, which sets the system in a first operating mode when the Bewegungsvorgabemittel is moved freely in space Hundünd, and which detecting means puts the system in a second operating mode, if the orientation of the movement command means due to mechanical contacting or Coupling with the object is defined or determined thereby.
In the first operating mode, the orientation determination unit calculates the changing orientations of the motion specification means based on signals from the inertial sensors in the motion specification means. On the other hand, in the second operating mode of the system, the orientation determination unit calculates the changing orientations of the motion specification means at defined limited time intervals directly based on information or assumptions from the control device about the known rotational position states of the moving manipulator or the object moved therewith. In the second mode of operation, therefore, the temporally varying orientation of the motion specification means is determined, for the movement commands for the manipulator, which motion commands are based on or dependent on the orientation of the motion specification means, and for the final control of the drive devices of the manipulator, at least at certain time intervals based on data or information from the control device of the manipulator. At least in these time intervals, the orientation determination is not based on a continuous summation of incremental small orientation changes or not based on an integration of rotational speeds or accelerations. For possibly implemented plausibility or control measures in the control sequence, an additional evaluation of the signals of the inertial sensors can be carried out in the second operating mode-according to practicable further developments as described below. Furthermore, between the mentioned time intervals for any other points in time for which no current information about the rotational position states is provided by the control, the orientation is extrapolated from past values and / or calculated or determined based on the signals of the inertial sensors.
The orientation determination in the second operating mode is to be understood such that the changing orientations of the motion specification means are determined at least at periodic intervals solely based on the rotational position information of the moving manipulator. Nevertheless, this implies the possibility that, between these update intervals, the orientation may be determined by extrapolation and / or also based on the signals of the inertial sensors in a finer temporal raster, i. with a higher temporal resolution, can be calculated.
The terms used in this description "switching" or "change" of the operating mode are to be understood as a synonym for program jumps or for software implementations. The term "operating mode" also represents a synonym for functional mode or functional behavior of the specified technical system.
An essential measure in the solution according to the invention is that a position determination or orientation determination involving acceleration or inertial sensors takes place only for that normally relatively short period of time in which the movement specification means is actually moved manually in space by the operator, ie, for example is moved from a reference position with a known position and orientation in a favorable for the leadership of the object or workpiece position on the respective workpiece or object. In the subsequent period in which the position of the movement specification means is then supported or determined by the respective object via whose movement state information is otherwise available, the further determination of the continuously changing orientation of the movement specification means takes place directly on the basis of the control-side information about the rotatory Situation states of this object.
According to an expedient embodiment, it can also be provided that when the movement specification means is stored, for example, in a dormant or resting position, after it has been attached by the operator to the object to be moved, the last determined orientation of the movement specification means is virtually frozen or stored , Alternatively or in combination, it can also be provided to signal this final state of the spatially free movement of the movement specification means by a specific operating or actuating action of the operator, for example by pressing a button. From the time when the movement specifying means is coupled to an object to be moved by a robot, the further movement of this object and also of the movement specifying means mounted thereon is via the axis angle sensors or the positioning sensors and the geometry of the robot known or determined by the control device. In particular, the control device can use the somewhat "own" information or data to determine the continuous changes in the orientation of the movement specification means, or the changing orientation information can be continuously updated via the movement specification means with respect to the room.
It is sufficient in this case if the orientation of the motion specification means coupled to the object is calculated directly from the rotatory position information of the manipulator, for example 0.5 s, and if, between these points in time, the orientation is based on the last orientation information determined either via extrapolation or is incrementally calculated on the basis of the signals of the inertial sensors. The errors arising in these short time intervals are negligible for the application in question and are in each case eliminated again with the next value for the orientation determined directly on the rotatory position information of the manipulator, whereby an increase in the drift error in this phase is precluded. Such a computational extrapolation or an incremental, sensor-guided determination of the changed orientation between the times with the sole determination from the Manipulatorpose may be useful if the position information can not be provided by the manipulator control with that speed or frequency or temporal screening as they are the transformation and transmission of the movement specifications or the inputs of the operator to the manipulator control are required.
As a result, the drift occurs due to the errors of the acceleration or inertial sensors only in the normally short time in which the movement specifying means is actually moved by hand freely in space. Consequently, those intervals in which a recalibration of the system is required can be significantly extended. In particular, during a prolonged joining or assembly process, during which the movement specifying means remains coupled to the object, in any case no recalibration is required.
By resorting to information or data of the control device with respect to the state of motion of the object or the manipulator and by a comparison with the measured values recorded by the inertial sensors together with the calculated information about the respective current orientation of the BeWe supply default means can also be checked according to an appropriate measure whether the motion specification means is coupled to the object and / or whether an orientation of the motion specification means calculated using the data of the inertial sensors corresponds sufficiently precisely to the actual or control-side calculated orientation, in particular to the alignment of the motion specification means determined on the basis of the internal control data. If the sensor-determined orientation due to the drift or the sensor error no longer coincides with the data-technically determined direction of the object movement, or if the motion specification means unintentionally separates from the object during the manipulator movement, this can be considered a serious deviation between the object movement known from the control side and the object measured movement are detected. Thereupon, in order to avoid the risk of an unintended or uncontrolled manipulator movement, an ongoing movement can be stopped immediately or a renewed movement can only be made possible again after the system has been recalibrated.
An advantage of using inertial sensors is that, apart from a known or predefined reference position, no special external devices, such as position signal transmitters or receivers, and local or global positioning systems are required. This favors the most cost-effective provision possible of the system according to the invention, after complex hardware and complex system installations can be dispensed with. In addition, the inertial sensors required for the particular application have become sufficiently accurate and have become an inexpensive, compact and reliable mass-produced product. In addition, the inertial sensors preferably used for the system according to the invention, in particular based on semiconductors or in MEMS technology (microelectromechanical systems), are hardly affected by electromagnetic interference fields, which frequently occur in industrial environments. In this respect, a good interference immunity can be achieved.
According to an expedient embodiment, the detection means implemented in the system can comprise a sensor and the object to be moved can have a mark or identifier detectable by this sensor, wherein the detection means is adapted to enter the motion specification means into the second operating mode as a result of detection of the marking by the sensor offset. As a result, a particularly reliable or clearly initiatable change between the respective operating modes of the system can be achieved. In particular, this is a solution variant which enables a reliable detection of a physical assignment of the movement specification means to a specific object. The spatial position or orientation of this object is known to the control device of the manipulator or can be determined by the control device of the manipulator. In addition to a relatively unambiguous criterion for a switchover between the operating modes relating to the further determination of the orientation of the motion specification means, it can also be ensured that a movement of the manipulator is only enabled or enabled if the motion specification means at an explicitly provided and marked location of the object is attached.
To be able to hold unintentional or surprising for the operator triggers of movements of the manipulator, may further be provided that on the Bewegungsvorgabemittel an operable by the operator input or switching element is formed, with which input or switching element of the control device performed coupling of the motion specification means with respect to the object and also a readiness for performing traversing movements of the object via the manipulator can be signaled.
According to an advantageous embodiment, the detection means may also be designed to evaluate the signals of the inertial sensors during a defined observation period, wherein the detection means is adapted, for those cases in which these signals with respect to the acceleration of the motion specification means and / or with respect to the acceleration from this calculated speed change of the motion specification means and / or with respect to the position or orientation change of the motion specification means during the defined observation period below a defi ned first limit and / or below a defined fluctuation range remain to put the system in the second mode of operation. As a result of this advantageous embodiment, the acceleration or inertial sensors integrated in the movement specification means are used to automatically recognize the state of the rest position of the movement specification means and then to change to the second mode of operation and to maintain or store the previously determined orientation for the time being, and subsequently adapt based on the control-side information about the state of motion of the object. In particular, it can be exploited that in the hands-free guidance of the motion specification means there will always be at least a certain fluctuation or a slight jitter. If, on the other hand, the motion presetting means is deposited or mechanically coupled to a stationary object supported by the manipulator, a significantly smaller residual signal from the inertial sensors remains, which may indeed have a certain constant offset component as an error, but will not exhibit appreciable fluctuations.
Due to the specified technical measures for implementing the system, movement-related changes in the orientation of the object are defined or determined by the manipulator. The control device of the manipulator can thus transmit information or data about the orientation or about the continuous changes in the orientation of the object to the orientation determination unit. The orientation determination unit can subsequently be designed to determine, in particular to calculate, in the second operating mode, the progressively changing orientations of the motion specification means based on the information transmitted or provided by the control device of the manipulator. These particularly advantageous measures make it possible for the orientation of the motion specification means to be continuously determined from the change in the orientation of the workpiece during the time in which the motion specification means is coupled to an object or workpiece moved by the manipulator and the error or drift-related measurement data of the inertial sensors does not have to be resorted to. An influence of the drift of the inertial sensors is therefore reliably prevented during this phase or without negative effect, and the service life of the movement presetting agent until the next required calibration procedure can thus be significantly extended or the frequency of the required calibrations can be significantly reduced.
Furthermore, the detection means can be designed to transmit to the control device or to an independent safety controller of the manipulator a first blocking signal which inhibits the execution of movements of the manipulator when the detection means detects that the movement specification means is manually moved freely in space. As a result, it can also be recognized when the movement presetting means suddenly releases from the object or workpiece or component to be moved or has unintentionally released, which can result in a certain element of surprise for the user and correspondingly unintentional or uncontrolled movements and operator actions. Subsequently, a movement of the manipulator is then promptly or automatically prevented. For example, in such a situation, an unintentional abutment of the object to be moved on any adjacent objects, such as other construction and construction parts, can be prevented.
According to the system, the orientation of the object is determined by the respective pose of the manipulator and the control device of the manipulator can transmit information about the orientation or about the continuous changes in the orientation of the object to the detection means. The detection means may be designed to compare this control-side information about the movement of the object with the movement information from the inertial sensors. In addition, the detection means may be provided to automatically put the system in the first operating mode when a deviation of the acceleration or the rotational speed derived therefrom or the change in angle between the sensory information by the motion default means and the information from the control device exceeds a defined second threshold. By means of this advantageous embodiment, during an active movement of the object held by the manipulator, the movement states of the object known from it are constantly compared with the information about the change of the state of motion obtained by the inertial sensors. As long as the deviations from this comparison are sufficiently small, the determination of the orientation of the motion specification means, while avoiding the drift errors of the inertial sensors, can be carried out solely from the information about the rotational position and movement state of the object or from the data of the control device. However, as soon as a discrepancy lying above a certain threshold between the sensor signals and the control-side movement information is determined, it can be assumed that the orientation of the movement specification means is no longer determined by the object. The further determination of the orientation of the movement specification means then takes place based on the acceleration sensors integrated therein. The change or return to the first operating mode of the system can thereby be automated, in particular be made directly and independently of any additional sensory information or manual inputs.
According to a further embodiment, the detection means may be designed to carry out the comparison between (i) the control-side information about the movement of the object and (ii) the amount of movement information based on the inertial sensors, ie according to the amount of the respective parameter values. This is a simple evaluation, which is used to check in a practicable manner whether or to what extent the acceleration or velocity of the motion specification means based on the measured values of its sensors coincide in terms of time and amount with the control-side data or with the values calculated therefrom.
According to an alternative embodiment, the detection means may be designed to carry out the comparison between (i) the control-side information about the movement of the object and (ii) the movement information based on the inertial sensors vectorially taking into account the Richtungskompo components of the movement information. Such a vectorial comparison of the acceleration or speed takes into account not only the amounts of these motion characteristics but also the data on the orientation of the motion specification means, so that too large a deviation or a too large error internally determined orientation of these errors can be detected relatively clearly and fail-safe.
In order to achieve as exact a determination as possible of the changing orientations of the motion specification means even after a relatively long period of time, provision may also be made for a memory unit with correction values accessible to the orientation determination unit to be provided and for the orientation determination unit to design the sensor values of the inertial sensors in the course of the calculation the motion information with these correction values to correct mathematically.
The orientation of the object - and consequently also of a movement specification means fastened thereon - is determined by the respectively assumed pose of the manipulator. In this context, it is expedient for the control device of the manipulator to transmit information about the orientation or about the continuous changes in the orientation of the object to the orientation determination unit at short intervals or to provide such information for retrieval by the orientation determination unit. The orientation determination unit can also be designed to compare this information about the movement of the object with the movement information from the inertial sensors, wherein the orientation determination unit is further adapted to adapt the correction values for the computational correction of the sensor values of the inertial sensors such that a deviation of the movement information is minimized from the sensor values corrected with the correction values with respect to the movement information according to the information from the control device of the manipulator.
According to an advantageous development, a collision detection means may be provided or the detection means may be configured to evaluate the signals of the acceleration sensors and to compare them with a third limit value. The collision detection means or the detection means is further provided to transmit a blocking signal to the control device or to an independent safety control of the manipulator, which blocking signal automatically inhibits movement of the manipulator when the third limit is exceeded. As a result of this development, the movement of the manipulator is stopped when an unexpectedly high, negative acceleration, in particular an abrupt deceleration, is detected by the acceleration or inertial sensors as a result of a collision of the moving object or the motion specification means attached thereto. As a result, the effects of such a collision can be kept as low as possible in an advantageous manner.
According to an expedient embodiment, a pulse detection means may be provided or the detection means may be configured to evaluate the signals of the inertial sensors and to compare them with a fourth limit value. The pulse detection means or the detection means is further designed to issue a movement command to the control device of the manipulator, by which movement command a defined limited movement of the guided by the manipulator object in the direction of the detected acceleration is triggered. Pulse-like shocks can also be absorbed by the inertial sensors in the movement specification means if the movement specification means is already fastened or supported on the object to be moved. Due to the relatively characteristic accelerations such impact or knock pulses can be reliably recorded or well detected. Thus, setting up and positioning of an object in the course of a joining process can not only be done by actuating the actual input means on the movement specification means, but the operator can also perform minimal positional corrections by light impacts on the object or by defined tapping on the movement specification means. These measures are similar to a procedure, as it would be used even in a purely manually performed joining process in a relatively natural way.
It can also be expedient if the movement specification means comprises at least one input means in the manner of an enabling button, which input means is provided for activating movements of the manipulator deliberately to be initiated by the operator, and this input means as a function of its actuation state for generating a release signal and for Transmission is set up to the control device or to a safety control of the manipulator. Dangerous conditions or damage in terms of health and property, among other things, due to misunderstandings or carelessness of the operator, this can effectively be withheld.
According to a practicable measure, it is provided that the movement specification means has a coupling device which can be activated and deactivated as required, which coupling device is provided for the temporary position of a possibly detachable connection with respect to the object and for the transmission of forces and moments between the object and the movement specification means. As a result, in the course of pending object movements, the motion specification means can be connected to the object to be moved in a sufficiently rigid or fixed manner and yet detachable again. The coupling device is preferably activated and deactivated without tools, so that a time-saving and comfortable Flandhabung is guaranteed. The corresponding coupling device can be formed in particular by a mechanical terminal connector and / or a suction cup and / or a magnetic holder and / or an adhesive or adhesive surface for multiple, if necessary releasable sticking to the object.
It is also expedient if the movement specification means has at least one input means that can be actuated by the operator for triggering a movement of the manipulator. This input means may be designed in the manner of a relatively movably mounted control stick or in the manner of a rigid, force-sensing flange handle. Input means in the manner of a 6D joystick or a so-called 6D Spacemouse are particularly advantageous because all rotational and linear motion presets can be input directly and intuitively via a single control element. This input means is associated with a movement direction with respect to a device-fixed, local coordinate system of the motion specification means, wherein the overall system is adapted, depending on the orientation of the local coordinate system in a world coordinate system of the manipulator, a conversion or transformation of this direction of movement with respect to the local coordinate system in to perform an equivalent or the same oriented direction of movement with respect to the world coordinate system of the manipulator. As a result, the operator is provided with a particularly intuitive and error-avoiding system for robot-assisted manipulation or motion control of an object or component. The efficiency and quality of assembly and manufacturing processes can be increased.
Furthermore, it can be provided that the movement specification means has an input element, by the actuation of which a change from the first to the second or from the second into the first operating mode by the operator can be indirectly initiated. Alternatively, it may be provided to temporarily change predefined limit values for an automatic change of the operating mode with this input element in such a way that this change of the operating mode takes place more rapidly, ie. is forced. Likewise, it can be provided that an actuation of this input element is included as additional information for a plausibility control of an automatically initiated change of the operating mode. On the one hand, the user friendliness or quality of use and, on the other hand, the system behavior can be promoted with the measures mentioned.
According to an advantageous embodiment, it can also be provided that the movement specification means has a display element, which display element is set up to signal to an operator whether the system is in the first or in the second operating mode. Also by these measures, the user friendliness can be increased. In addition, this can favor a plan or proper system use, after erroneous operations can be obstructed. Also
Delays due to unsuitable operating procedures or faulty applications can be avoided.
It is also expedient if the motion specification means can be coupled to the control device via a wirelessly established communication connection, in particular a radio connection. As a result, the freedom of movement of the operator compared to a cable connection can be favored. The overall achievable ergonomics or manageability is thereby positively influenced.
The object of the invention is also achieved by a method with the steps or method measures given below.
The method according to the invention for moving an object spatially by means of a manipulator controlled by an electronic control device, in particular an industrial robot, comprises in particular the steps of: producing an at least temporary movement coupling of the object to be moved with an end effector of the manipulator; - Spend a at least temporarily manually by a user freely movable in space motion specification means with it structurally integrated inertial sensors in a reference orientation, which reference orientation with respect to a world coordinate system of the manipulator predetermined and the control device is known, or which reference orientation by the control device can be computed eruierbar ; Calculating a first transformation matrix for the transformation of direction vectors between a local coordinate system of the reference orientation-oriented motion specification means and the world coordinate system of the manipulator related to the motion specification means; - Spend the movement command means by the operator from its reference orientation to any desired by the operator on the body to be moved by the manipulator object, wherein the first
Transformation matrix is updated based on the sensor signals of the inertial sensors in accordance with the change in the orientation of the Bewegungsvorgabennittels; - Establishing a physical coupling or a rigid movement connection between the movement specifying means and the object to be moved by the operator; - Providing a second transformation matrix by the control device of the manipulator, which allows a transformation of direction vectors between the world coordinate system of the manipulator and a rigidly associated with the end effector Effektorodo system according to the present at the coupling time pose of the manipulator; Determining a third transformation matrix from the first and second transformation matrix, the third transformation matrix enabling a transformation of direction vectors between the local coordinate system of the motion specification means and the effector coordinate system rigidly associated with the end effector; continuous actuations of the movement specification means into those actuation directions which at least partially correspond to the intended directions of movement of the object, and detection of directional information via the operating actions of the operator continuously performed on the movement specification means and repeated provision of a second transformation matrix updated according to the pose of the manipulator currently present at the time of provision by the manipulator Control device and continuous transformation of this direction information by means of the second and the third transformation matrix in the world coordinate system of the manipulator and initiate movements of the manipulator by the control device such that directions of movement of the object correspond at least partially to the directions of actuation initiated by the operator of the movement specification means.
In particular, the measures according to the invention make possible an absolutely intuitive motion control of the object or of the manipulator. Thinking in different coordinate systems and adapted actuation resp. Activation directions relative to the movement specification means or with respect to the input means of the operator is completely spared. The time required for assembly or joining processes can be shortened and at the same time a high positioning accuracy of objects to be moved can be achieved. An essential advantage of the measures according to the invention is also that the unavoidable drift behavior of the inertial sensors and the mathematically caused error accumulation due to the required integral or sum operation or the limited computational accuracy in connection with the processing of the signals from the inertial sensors hardly or not at all affect the achievable positioning accuracy of the object or on the movements of the manipulator. In particular, according to the invention, starting from the moment of a present coupling of the motion specification means to the object guided by the manipulator, the changing orientations of the motion specification means are determined continuously or at least in comparatively short time intervals directly and solely from the rotational position information of the object or the end effector, i. without resorting to previously accumulated incremental changes in orientation. A progressive increase in the drift error due to the summation or integration of the faulty sensor signals is thereby prevented or such a drift error is regularly eliminated at short intervals before a disturbing extent is reached.
The respective desired manipulator movements are initiated in a comfortable manner by actuating actions of the operator with respect to sections or actuators provided for the motion specification means. These actuating actions or force effects on the part of the operator can thereby cause slight relative adjustments of subsections or actuating elements of the motion presetting means. Alternatively, it is also possible to detect only the respective force or pressure effects relative to the motion specification means and their direction of action by means of sensors, to map them by corresponding direction signals or direction data and subsequently to convert them into corresponding control commands for controlling the movement of the manipulator. In particular, an actuation of the movement specification means on the part of the operator by pulling, pushing, tilting or rotating stresses against the movement specification means is expedient in those actuating directions which at least partially correspond to the directions of movement of the object intended by the operator.
A significant advantage of the measures according to the invention lies in the fact that the period of time after which a recalibration of the system is required due to the unavoidable drift behavior of the inertial sensors or the data generated therefrom, can be significantly extended. In particular, the re-calibration procedures required from time to time may be extended to periods sufficient to complete a particular assembly or assembly cycle in the manufacturing process such that such assembly or assembly cycle is no longer interrupted by recalibration must become.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
In each case, in a highly simplified, schematic representation:
1 shows an embodiment of a system according to the invention with an articulated arm robot as a manipulator for a spatially to be moved object or component.
Fig. 2 is a schematic representation of a movement specifying means, as it can be used in the system of FIG. 1.
By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
FIG. 1 illustrates an exemplary embodiment of a technical system 1 for the spatial movement of an object 2 by means of a manipulator 3. The manipulator 3 can be formed in particular by an industrial robot, be executed, for example, as a 6-axis articulated arm robot. The object 2 to be moved by this manipulator 3 in space is formed in particular by a component to be mounted or by a workpiece, such as a windshield, a vehicle seat or the like.
The object 2 is carried or picked up by the manipulator 3 and moved in accordance with the specifications of an operator in the room, for example added to a semifinished product. Consequently, the respective object 2 is at least temporarily coupled to the manipulator 3. For this purpose, the manipulator 3 may have any end effectors 4, for example a mechanical gripper, suction cups, magnetic couplers or other devices for the detachable coupling of an object 2 relative to the manipulator 3. The corresponding automation system 1 comprises at least one movement specification means 5, which is at least temporarily freely movable in space by an operator of the system 1, at least temporarily. This means that this electromechanical movement specification means 5 is at least temporarily portable or mobile and can be moved or guided freely in space by the operator. In this free or unbound phase of the movement specification means 5, it is possible to at least temporarily characterize the movements executed therewith, in particular its orientation changes, by corresponding sensor signals from internal acceleration or inertial sensors and to record these sensor signals or almost in real time recycle. The corresponding records or utilization of the sensor signals take place in connection with the implementation of the specified process sequence or due to an explicit command of the operator. This means that not all movements of the movement specification means 5 are recorded or no uninterrupted evaluation of the movements or orientation changes has to take place.
The example, grip-like or rod-shaped movement command means 5 is also provided for an at least temporary, physical coupling with the manipulator 3 to be moved object 2. Specifically, in this temporary coupling state of the movement specification means 5 with respect to the object 2 to be moved, the movement specification means 5 for the delivery of tax or. Movement commands provided by the operator to an electronic control device 6 of the manipulator 3. The manipulator 3 or its end effector 4 together with the object 2 can thus be moved based on the specifications or movement commands of the operator, which corresponds to a hand-held movement control for the manipulator 3 and can be understood as cooperative interaction between the operator and the manipulator 3 ,
The control device 6 of the manipulator is shown here as a central, locally assigned unit. Of course, it is also possible to provide a plurality of distributed or decentralized control units, wherein these distributed control units can form a total of the control device 6 of the system 1. In particular, a control device 6 'can also be provided within the movement presetting means 5, which cooperates with the stationary or robotor-side control device 6 and thus completes or completes the control device 6 functionally. Hereinafter, for the sake of simplicity, only the control device 6 or 6 'is used, which can be organized centrally and / or decentrally.
The control device 6, 6 'in each case comprises at least one processor or microcontroller whose functional sequences are defined by software technology or which are respectively programmed by software engineering means. These software technical means are - as known per se - deposited in electronic storage devices.
As can best be seen from a comparison of FIGS. 1 and 2, at least one inertial sensor 7 or at least one inertial measuring unit (IMU) is integrated in the portable or mobile movement specification means 5. Expediently, these inertial sensors 7 are embodied in semiconductor technology, in particular implemented in MEMS technology (micro-electro-mechanical systems). With these inertial sensors 7, it is possible to detect or determine at least the spatial orientation or the orientation changes of the movement specification means 5 in three-dimensional space. In principle, the spatial position (pose), ie the combination of spatial position and orientation, can also be determined with the inertial sensors 7. For the purposes of the process sequence according to the invention, however, the determination of the changing orientations of the motion specification means 5 is sufficient and can be dispensed with the relatively inaccurate or less time-stable position determination in an advantageous manner.
In particular, a software-technical orientation determination unit 8, 8 'is implemented in the system 1, which is provided for the continuous determination of the changing orientations of the motion specification means 5 with respect to the three-dimensional space. The orientation determination unit 8, 8 'can be provided combinatorially in the control devices 6, 6' or can also be decisively implemented in only one of the control devices 6, 6 '. In particular, the at least one orientation determination unit 8, 8 'calculates at least the respective orientation (orientation) of the motion specification means 5 or the respective temporal changes of the orientation of the motion specification means 5 on the basis of existing signals or provided data of the inertial sensors 7, as will be described in detail below is described. On the part of the orientation determination unit 8, 8 ', the determination of the spatial position of the movement specification means 5 can be dispensed with. A determination of the spatial position of the movement specification means 5 on the basis of the integrated inertial sensors 7 would namely be relatively erroneous in comparison to the determination of the respective orientation of the movement specification means 5 or of increased susceptibility to drift. Accordingly, the orientation determination unit 8, 8 'preferably exclusively determines the respective orientation or orientation changes of the motion specification means 5 with respect to the three-dimensional space or with respect to the world coordinate system of the manipulator 3, based on the sensor signals or data of the inertial sensors 7.
Namely, in order to enable the operator as intuitive as possible a movement instruction or as clear as possible deposition of movement commands to the manipulator 3 or to the control device 6, the respective orientation of the movement specification means 5 in the room is primarily crucial. In particular, the control engineering execution of at least one of the movement commands, which are initiated via the movement specification means 5 by the operator, is at least partially dependent on the instantaneous orientation of the movement specification means 5.
The automation system 1 further comprises at least one electronic or software-technical evaluation or detection means 9, 9 '. This software-technical detection means 9 or 9 'implements a plurality of technical measures or functionalities on a software-technical basis or the detection means 9, 9' are provided for providing functions as described in detail and in the following. The program or software-technical detection means 9, 9 'can in turn be implemented both in the control device 6 and in the control device 6', or alternatively in only one of these control devices 6, 6 'implemented. The detection means 9, 9 'can also be understood or referred to as evaluation means with regard to the functions implemented in each case. On the one hand, this detection means 9, 9 'implemented primarily by software technology can be provided to put the system 1 into a first operating mode when the movement command means 5 is manually moved freely in space by the operator and at least the orientation changes of the motion command means 5 are determined or should be recorded. This detection means 9, 9 'is further intended to convert the system 1 into a second operating mode if the respective spatial orientations or orientation changes of the movement specification means 5 due to its mechanical contacting or coupling with the object 2 to be moved by the object movements, So defined by the movements of the manipulator 3.
The corresponding switches or changes in the respective operating modes of the system 1 are not to be interpreted as switching operations in the strict sense, but rather as programmatic jumps or as a state change in the data processing of the system 1 to understand, as the skilled in the art are well known. According to an essential aspect of the invention, it is provided that in the first operating mode, in which the motion specification means 5 is freely movable in space, the changing orientations of the motion specification means 5 are calculated or determined based on signals from the inertial sensors 7. In contrast, the orientation determination unit 8, 8 'in the presence of the second operating mode, in particular with fixed coupling of the motion specification means 5 with the object 2 to be moved, calculates the changing orientations of the motion specification means 5 either continuously or at least recurrently in comparatively short time intervals based solely on information In particular, the control device 6 of the manipulator 3, the respective position, speed and / or acceleration states of the manipulator 3 and the object 2 moved therewith at any time before, so on the part of the orientation determination unit 8, 8 ', the orientation of the motion specification means 5 with respect to the three-dimensional space, which is rigidly coupled or interacting with it, can also be calculated or determined. As a result, in the presence of the second operating mode, drift influences on the part of the inertial sensors 7 can either be completely ruled out or, depending on the short time intervals of the update, can be kept negligibly low on the basis of the position information of the manipulator. Thus, the accuracy or the long-term stability of the orientation determination with respect to the movement specification means 5 can be considerably improved.
On the basis of the respectively present orientation of the movement presetting means 5, which is firmly or substantially unyieldingly connected to the object 2 to be moved during the second operating state, the control device 6, 6 '- taking into account the direction or movement commands, which are used by the Operator manually via the input means 17 of the motion command means 5 are input - generates control commands or control commands for the various drive devices of the manipulator 3. The various drive devices are in particular assigned to the respective joint axes of the manipulator 3, wherein not always all of the total existing drive devices must be activated or activated in order to perform the default movement of the object 2 can. In connection with the measures according to the invention, it is achieved that the directions of the continuous actuations of the movement specification means 5 on the part of the operator, in particular their tensile, compressive, tilting or rotational stresses relative to the movement specification means 5, directly correspond to the intended directions of movement of the object 2 and the control device 6, 6 'or the system 1 converts or transforms the corresponding actuation directions in such a way that the final object movements with respect to the three-dimensional space correspond to these actuation directions introduced at the movement specification means 5, in particular are rectified or at least parallel oriented. It may also be provided by control technology that a movement of the object 2 is only possible along a specific trajectory or in a specific channel along such a trajectory or that certain degrees of freedom are blocked or limited, so that a desired motion specification is only partially, i. in terms of freed degrees of freedom is executed. Overall, this ensures a particularly intuitive controllability or movement specification with respect to the manipulator 3 for the operator. The corresponding control method or the conversion and transformation method implemented for this purpose is described in detail below.
In carrying out this method, several coordinate systems and different transformation matrices play to convert the coordinates of
Vectors from a coordinate system (reference system) in another coordinate system a special role: - A world coordinate system Kw, in which the orientation of the end effector 4 of the manipulator 3, as well as the reference orientation for the movement specifying means 5 are known or determinable. A local coordinate system K1 of the motion specification means 5. This local coordinate system K1 is rigidly linked to the housing of the motion specification means 5 or to a reference point of the device. The direction of deflections of controls or operating forces of the operator is first detected in this local coordinate system K1. - A rigidly with the end effector 4 and during the fixation of an object 2 at the end effector 4 also with this object 2 rigidly linked effector coordinate system Ke. The orientation of this effector coordinate system Ke, also referred to as the hand coordinate system, can be determined at any time relative to the world coordinate system Kw via the angular positions of the joints of the manipulator 3.
In a first step, the movement specification means 5 is now brought into a reference orientation known or determinable in the world coordinate system Kw. This reference orientation is defined by the orientation of a reference coordinate system Kr with respect to the world coordinate system Kw. It can be given as a transformation matrix Twr, or, for example, in the form of three angles, which in turn can be equivalently converted into such a transformation matrix. The transformation matrix also allows the conversion of the representation of any directional vector between the two coordinate systems. For the coordinates of a vector aw in the world coordinate system Kw and the same vector aR in the reference coordinate system Kr, the following relationship applies:
and
With
and
where Γ-1 denotes the inverse of the matrix T and allows a coordinate transformation in the opposite direction. Since the described rotation matrices are mathematically so-called orthogonal matrices, it also applies to this special case that the inverse of such a matrix is equal to the transpose of the matrix, which considerably reduces or virtually eliminates the computational outlay for inversion in practice.
If the movement specification means 5 is aligned in the reference direction (reference orientation), for example if it has been moved to a defined calibration position with a predetermined corresponding orientation, the local coordinate system K1 has the same orientation as the reference coordinate system Kr, so that in this position the actuating direction of a control element which is in the Device with respect to the local coordinate system Kl is detected, can be transformed with Twr in the world coordinate system Kw (this corresponds to the "first transformation matrix" from step c of the method claim). Basically - although hardware more complex or more complex - instead of taking a previously known Kalibrierorientierung also a special method for single determination of the orientation of the motion specification 5 could be performed, for example by external sensors, such as cameras in conjunction with visually perceptible markings the orientation in the world coordinate system Kw is known by either the camera or the marker, and in the course of the calibration process, the relative orientation of the respective other system which is connected to the movement specification means 5 is determined optically. A calibration could also be done by placing the motion preselection means 5 on a surface in the world coordinate system Kw known or determinable orientation together with the determinable via the inertial sensors 7 gravity direction, the calibration surface used may not be perpendicular to the direction of gravity (not horizontal), but the Gravity should be as parallel or in the smallest possible angle to this surface. In any case, the result of the calibration process is a transformation matrix Twr or a mathematically equivalent representation.
In order for such an actuation direction to be further transformed into the world coordinate system Kw even after the motion specification means 5 has been moved from the reference orientation into a user-selectable orientation, the transformation matrix TWL (n) is to be updated in small discrete steps ATL (ri) in time-discrete steps n , which describe the rotation of the movement specification means 5 per time step, which is determined from the measurements of the inertial sensors 7, whereby different methods can be used to minimize errors and uncertainties in the measured values and to obtain the most accurate values for & TL (n) to obtain. The relevant literature on inertial navigation provides various suggestions for this.
It applies at a discrete time n:
With
This corresponds to the updating of the first transformation matrix according to method step d.
Now that the movement specification means 5 has been moved by the user to a suitable location for further Flandhabung on the object to be moved 2 and was fixed at a discrete time k on the object 2 via suitable means, for example via magnetic holder, Velcro, adhesive surface or by suction cup or Likewise, the orientation of the motion specification means 5 is described apart from the measurement and computational inaccuracies by the last valid value of the hitherto continuously updated transformation matrix TWL (k) and thus known with sufficient accuracy. This is particularly because the time period for moving the movement specification means 5 from the reference position to the desired position on the object 2 will usually be short compared to the subsequent phase in which the object 2 is moved, set up and mounted according to the operator's specifications. Accordingly, the sensor errors of the inertial sensors 7 and the integration errors have only a relatively small effect on the control or movement sequences.
The object 2 to be moved is gripped by the end effector 4 or by a gripper or a similar holding device of the manipulator 3 and fixed as rigid as possible at the latest from this point in time and then moved in the sequence by the manipulator 3 in the direction desired by the operator and rotated to be able to.
The control device 6, 6 'of the manipulator 3 transmitted at the latest from this
Time information about the orientation of an end effector 4 rigidly associated with the effector coordinate system Ke, for example, a so-called hand coordinate system, from which a transformation of vectors between the world coordinate system Kw and the effector coordinate system Ke can be derived. Usually, this information is already provided in the form of a transformation matrix, for example T'we (fc) (this is the "second transformation matrix" from method step f). While the object 2 to be moved is fixed or guided by the manipulator 3, the hand or effector coordinate system Ke is at the same time also an object coordinate system rigidly linked to the object 2, with which, as long as the motion specification means 5 is mechanically coupled to the object 2, the local coordinate system K1 of the motion specification means 5 is rigidly coupled.
It is now possible (while the object 2 is coupled to the manipulator 3 and the motion specification means 5) to specify a constant transformation matrix Tel for the transformation of a direction vector from the local coordinate system K1 of the motion specification means 5 into the effector coordinate system Ke (the "third transformation matrix" from the method step) G.)
The following applies:
During the presence of a fixed coupling of the object 2 with the motion specification means 5 and with the manipulator 3, a transformation matrix for the transformation of a direction vector from the local coordinate system K1 into the world coordinate system Kw can now be specified for each discrete point in time m, which is no longer from the data The inertial sensors 7 must be determined and also causes no numerically or algorithmically caused error accumulation, because it can be determined exclusively from the known joint angles of the manipulator 3 or by the kinematics of the manipulator 3.
The following applies:
In the meantime, if the movement specification means 5 is released again from the object 2 and, for example, moved by the operator to another, more ergonomically favorable position for the respective assembly step on the object 2, the change of the T'wl (tri) is again based on this phase determines the measured values of the inertial sensors 7 in the motion specification means 5 and the incremental orientation changes & TL (m) derived therefrom, and again determines a constant matrix Tel when the motion specification means 5 is returned to the object 2.
Between the discrete times m, m + 1,..., The matrix Twl or the matrix TWE can also be extrapolated from the course of past values for time-finely resolved or shifted intermediate times or else by resorting to the sensor signals of the inertial sensors 7 analogously to the first operating mode to be updated. This may be expedient if the data from the control device 6 should not be available with the frequency required for the transmission of the motion commands or not at the required times. According to the invention, however, it is essential that the time intervals of those update times m, m + 1,... To which an orientation determination is based on the information from the manipulator control 6 are short, and that for each of these update times the drift or extrapolation errors accrued to date be equalized again, so that these errors can always achieve only a negligible level of measure, even if the movement specifying means 5 is arbitrarily long coupled to the object 2 and operated in the second mode of operation.
The reference orientation for the motion specification means 5 which is known or data-technically depicted in the control device 6 can be defined, for example, by a horizontal support surface or by a platform-like support surface for the movement specification means 5, as illustrated schematically in FIG. Thus, for example, parallelism zurz-axis in the world coordinate system Kw of the manipulator 3 given or given parallelism with respect to a pole axis or zenith direction (direction of gravity). In order to also define the orientation angle about this axis, a predefined mark, for example a flattening, a chamfer or an extension, can be formed on the motion specification means 5, which indicator is to be aligned with a corresponding or opposite indicator. If the movement specification means 5 assumes this predefined spatial orientation, the movement specification means 5 is in reference orientation, which is stored in the system 1 or in the control apparatus 6 in terms of data technology. When this reference orientation is taken, the local coordinate system K1 of the motion specification means 5 is then in a defined orientation, that is to say in a known correlation to the world coordinate system Kw of the manipulator 3. The reference orientation can also be defined by a specific position or edge on the object 2 to be moved. or be formed by a specific point or edge on the manipulator 3 itself. It is essential that the orientation of the motion specification means 5 is clearly defined with respect to the three-dimensional space when taking the reference orientation and this orientation of the control device 6 of the manipulator 3 is known or can be determined by this.
The vector calculations or coordinate transformations described above are expediently carried out in the control device 6 of the manipulator 3, wherein at least preprocessing of the corresponding data or signals can also be carried out in the control device 6 'of the motion specification means 5. For the data communication between the control devices 6, 6 'advantageously a wireless communication link 10 is provided. This wireless communication link 10 comprises corresponding radio transmission and reception devices 11, 11 'on the sides of the control device 6 and on the sides of the motion specification means 5. In particular, with these transceivers 11, 11', a radio link can be established between said components, thereby improving the ergonomics of use or practicability of the system 1 is favored. The data communication via this wireless communication link 10 can be made, for example, according to the Bluetooth, WLAN, or Zig-Bee standard or according to other communication standards.
After the functionalities or sequences of the control device 6, 6 'or the orientation determination unit 8, 8' implemented therein or the detection means 9, 9 'implemented therein can be implemented in a software-based manner, a series of evaluation, checking and plausibility measures can be carried out. as explained in the introductory part of the present invention description. With these functional evaluation or plausibility measures, the functionality, practicability, system security and / or positioning accuracy of the specified technical system 1 can be increased.
Structurally, at least one operable by the operator switching element 12 may be formed on the movement specifying means 5, with which switching element 12 of the control device 6, 6 'carried out a coupling of the movement specifying means 5 relative to the object 2 and also a readiness to perform movements of the object 2 via the manipulator 3 can be signaled. This switching element 12 is expediently defined by a touch-switching element and arranged at a location easily accessible to the operator on the surface of the movement specification means 5.
In order to increase the functional safety or system security, the control device 6 of the manipulator 3 may also be assigned a specially programmed safety controller 13. This safety controller 13 may be structurally self-designed permanently, or represent a hardware-combined with the control device 6 unit. The safety controller 13 is provided in particular for monitoring safety-relevant states and for receiving or evaluating safety-relevant signals or blocking signals.
Furthermore, at least one input means 14, in particular in the manner of an enabling button 15, may be formed on the motion specification means 5. This input means 14 is provided for a release of the manipulator 3 intentionally initiated by the operator. This input means 14 is provided in particular as a function of its actuation state for generating an enable signal and for transmitting it to the control device 6 or to a safety controller 13 of the manipulator 3.
For releasably releasable connection with the object 2 to be moved, at least one on demand activatable and deactivatable coupling device 16 is formed on the movement presetting means 5. This coupling device 16 is set up for the temporary Fierstellung a if necessary detachable connection to the object 2 and for the transmission of forces and moments between the object 2 and the movement specifying means 5. The corresponding coupling device 16 may be formed by a mechanical clamping or plug connection and / or by at least one suction cup and / or by a magnetic holder and / or by an adhesive or adhesive surface for repeated as needed releasably adhering to the object 2. The coupling device 16 may also be formed by a supporting device formed on the movement 5, which is urged by the operator against the surface of the object 2 and which can transmit by friction forces and moments transverse to the pressing direction, wherein the applied pressure applied by the user after release of the Robot movement is maintained control technology and thus the object 2 follows the motion specifications of the operator.
Furthermore, the movement specification means 5 comprises at least one input means 17 which can be actuated or influenced by the operator on the basis of switch contacts, but preferably on a sensory basis for detecting actuation movements or actuation forces, as is known from the prior art. This at least one input means 17 serves to detect control commands or actuating actions on the part of the operator. This input means 17, which is preferably formed from a plurality of sensors for detecting forces, pressures or other physical variables, are associated with directions of movement with respect to the device-fixed, local coordinate system K1 of the motion specification means 5. The automation system 1 is then set up, depending on the orientation of the local coordinate system K1 in the world coordinate system Kw of the manipulator 3, a conversion or transformation of these directions of movement with respect to the local coordinate system K1 of the motion specification means 5 into equivalent or identically oriented directions of movement with respect to the world coordinate system Kw of the manipulator 3, as previously described in detail.
The movement specification means 5 may further comprise an input element 18, by the actuation of which a change from the first to the second or from the second to the first operating mode by the operator is either directly veranladbar, or with which input element 18 predefined limits for an automatic change of the operating mode temporarily aware can be changed so that this change of the operating mode is faster, or that an actuation of this input element 18 is included as additional information for a control plausibility of an automatically induced change of the operating mode. Furthermore, the movement specification means 5 can have at least one visually detectable display element 19, which display element 19 is set up to signal to an operator whether the system 1 is in the first or in the second operating state.
According to one embodiment, it is also possible for the movement specification means 5 or its detection means 9 'to comprise a sensor 20 and for the object to be moved to have a mark or identifier detectable by this sensor 20. In this connection, the detection means 9 'is designed to set the motion specification means 5 into the second operating mode in the case of detection of the marking or identification by the sensor 20. Optionally, it is also possible to provide a memory unit 21, 21 ', which is provided for the storage of correction values which are readable or usable by the orientation determination unit 8, 8'. In particular, provision may be made for the orientation determination unit 8, 8 'to computationally correct the sensor signals of the inertial sensors 7 in the course of calculating the motion information with these correction values in order to achieve a more exact or long-term usable determination of movement or orientation.
In order to be able to carry out the control-technical operations within the mobile motion specification means 5, at least one electrochemical energy source 22, for example a battery or a rechargeable accumulator, is provided in the housing thereof. A charge of this electrochemical energy source can be made via electrical contacts or via inductive coupling.
The embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching of technical action by representational invention in Can the expert working in this technical field.
The scope of protection is determined by the claims. However, the description and drawings are to be considered to interpret the claims. Individual features or combinations of features from the illustrated and described different embodiments may represent for themselves inventive solutions. The task underlying the independent inventive solutions can be taken from the description.
For the sake of order, it should finally be pointed out that for a better understanding of the construction, elements have been shown partially unevenly and / or enlarged and / or reduced in size.
DESCRIPTION OF SYMBOLS 1 System 2 Object 3 Manipulator 4 End effector 5 Motion specification means 6,6 'Control device 7 Inertial sensors 8,8' Orientation determination unit 9,9 'Detection means 10 Communication connection 11,11' Transmitting and receiving device 12 Switching element 13 Safety controller 14 Input means 15 Enabling button 16 Coupling device 17 Input means 18 input element 19 display element 20 sensor 21, 21 'storage unit 22 energy source
Kw world coordinate system
K Local Coordinate System Ke Effector Coordinate System Kr Reference Coordinate System

权利要求:
Claims (23)
[1]
claims
1. System (1) for the spatial movement of an object (2) by means of a manipulator (3), which object (2) is at least temporarily motion-coupled with the manipulator (3), with a movement specification means (5), which at least temporarily by an operator is manually freely movable in space, and which motion specification means (5) is provided, at least temporarily, for physical coupling with the object to be moved (2), in which coupling state the motion specification means (5) for the transmission of movement commands by the operator to a control device (6 , 6 ') of the manipulator (3) is provided with inertial sensors (7) in the movement specification means (5) for detecting at least orientation changes of the movement specification means (5), with an orientation determination unit (8, 8') for the continuous determination of the changing orientations of the movement specification means (5) in space, wherein the control engineering execution of at least one d it is dependent at least in part on the orientation of the motion specification means (5), and with detection means (9, 9 ') which sets the system (1) in a first operating mode when the motion specification means (5) is manually moved freely in space and which detection means (9, 9 ') puts the system (1) into a second operating mode when the orientation of the motion specification means (5) is defined as a result of mechanical contacting or coupling with the object (2), characterized in that in the first mode of operation Orientation determination unit (8, 8 ') calculates the changing orientations of the motion specification means (5) based on signals from the inertial sensors (7) in the motion specification means (5), and in the second operation mode the orientation determination unit (8, 8') calculates the changing orientations of the motion specification means (5). at least at defined short-spaced times based solely on Inf ormationen from the side of the control device (6) on the known position states or changes in position of the control device (6) controlled manipulator (3) and the corresponding moving object (2) calculated.
[2]
2. System according to claim 1, characterized in that the detection means (9, 9 ') comprises a sensor (20) and the object (2) has a detectable by this sensor (20) mark or identifier, wherein the de tektierungsmittel (9, 9 ') is adapted to put the system (1) in the second operating mode due to detection of the mark or identifier by the sensor (20).
[3]
3. System according to claim 1 or 2, characterized in that on the movement setting means (5) operable by the operator switching element (12) is formed, with which switching element (12) of the control device (6, 6 ') carried out a coupling of the motion command means ( 5) relative to the object (2) and also a readiness for performing movements of the object (2) via the manipulator (3) can be signaled.
[4]
4. System according to one of the preceding claims, characterized in that the detection means (9, 9 ') is adapted to evaluate the signals of the inertial sensors (7) during a defined observation period, and that the detection means (9, 9') to set up is, in that case, that these signals relating to the acceleration of the motion specification means (5) and / or with respect to the velocity change of the motion specification means (5) calculated from this acceleration and / or with respect to the position or orientation change of the motion specification means (5) during the defined observation period remain below a defined first limit value and / or below a defined fluctuation range, to put the system (1) in the second operating mode.
[5]
5. System according to any one of the preceding claims, characterized in that the movement-related changes in the orientation of the object (2) by the manipulator (3) are fixed, and that the control device (6) of the manipulator (3) information about the orientation or over the continuous changes in the orientation of the object (2) are transmitted to the orientation determination unit (8, 8 ') or provided for the orientation determination unit (8, 8'), and in that the orientation determination unit (8, 8 ') is designed to operate in the second operation mode continuously to determine changing orientations of the movement specification means (5) based on the information transmitted or provided by the control device (6) of the manipulator (3).
[6]
6. System according to any one of the preceding claims, characterized in that the detection means (9, 9 ') is adapted to transmit to the control device (6) or to an independent safety controller (13) of the manipulator (3) a first lock signal, which inhibits the execution of movements of the manipulator (3) when the detecting means (9, 9 ') detects that the movement specifying means (5) is manually moved freely in space.
[7]
7. System according to one of the preceding claims, characterized in that the orientation of the object (2) is determined by a respectively assumed pose of the manipulator (3) and the control device (6) of the manipulator (3) information about the orientation or on the continuous changes in the orientation of the object (2) to the detecting means (9, 9 ') is transmitted, and that the detection means (9, 9') is adapted to this information about the movement of the object (2) with the movement information from the inertial sensors (7) and that the detection means (9, 9 ') is further adapted to put the system (1) in the first operating mode when a deviation of the acceleration or the rotational speed derived therefrom or the angle change between (i) the information from the control device (6) and (ii) the sensory Informa tion from the Bewegungsvorgabennittels (5) a exceeds the defined second limit.
[8]
8. The system according to claim 7, characterized in that the detection means (9, 9 ') is adapted to compare between (i) the control-side information about the movement of the object (2) and (ii) the movement information based on the amount of inertial sensors (7), ie according to the amount of the respective parameter values to perform.
[9]
9. A system according to claim 7, characterized in that the detection means (9, 9 ') is adapted to compare between (i) the control-side information about the movement of the object (2) and (ii) the movement information based on perform the inertial sensors (7) vectorially, taking into account the directional components of the motion information.
[10]
10. System according to one of the preceding claims, characterized in that a memory unit (21,21 ') is provided with for the orientation determination unit (8, 8') accessible correction values and the orientation determination unit (8, 8 ') is adapted to the sensor values the inertial sensors (7) in the course of the calculation of the motion information with these correction values to correct mathematically.
[11]
11. System according to claim 10, characterized in that the orientation of the object (2) is determined by the respectively assumed pose of the manipulator (3) and the control device (6) of the manipulator (3) information about the orientation or the continuous changes the orientation of the object (2) to the orientation detection unit (8, 8 ') or provided to this, and that the orientation determination unit (8, 8') is adapted to this information about the movement of the object (2) with the movement information from the side of the inertial sensors (7), and that the orientation determination unit (8, 8 ') is further adapted to adjust the correction values for the computational correction of the sensor values of the inertial sensors (7) such that a deviation of the movement information from that with the correction values corrected sensor values against the motion information according to the information from the Control device (6) of the manipulator (3) is minimized.
[12]
12. System according to any one of the preceding claims, characterized in that a collision detection means is provided or the detection means (9, 9 ') is adapted to evaluate the signals of the inertial sensors (7) and to compare with a third threshold, and that the collision detection means or the detection means (9, 9 ') is further adapted to transmit a blocking signal to the control device (6) or to an independent safety controller (13) of the manipulator (3), which inhibit signal prevents movement of the manipulator (3) when the third limit is exceeded.
[13]
13. System according to one of the preceding claims, characterized in that a pulse detection means is provided or the detection means (9, 9 ') is adapted to evaluate the signals of the inertial sensors (7) and to compare with a fourth limit, and that the pulse detection means or the detection means (9, 9 ') is further designed to issue a movement command to the control device (6) of the manipulator, by which movement command triggers a defined limited movement of the object (2) guided by the manipulator (3) in the direction of the detected acceleration becomes.
[14]
14. System according to one of the preceding claims, characterized in that the movement specification means (5) comprises at least one input means (14) in the manner of an enabling button (15), which input means (14) for a deliberately initiated by the operator activation of movements of Manipulator (3) is provided, and this input means (14) depending on its operating state for generating a release signal and for transmission to the control device (6) or to a safety controller (13) of the manipulator (3) is set up.
[15]
15. System according to any one of the preceding claims, characterized in that the movement presetting means (5) has an activating and deactivatable as needed coupling device (16), which coupling device (16) for the temporary production of a need-releasable connection with respect to the object (2) and is provided for transmitting forces and moments between the object (2) and the movement specifying means (5).
[16]
16. System according to claim 15, characterized in that the coupling device (16) has a mechanical clamping or plug connection and / or a suction cup and / or a magnetic holder and / or an adhesion or adhesive surface for multiple, if necessary detachable sticking to the object (2 ).
[17]
17. System according to one of the preceding claims, characterized in that the movement specifying means (5) at least one operable or modifiable by the operator input means (17)) for triggering a movement of the manipulator (3), which input means (17) a direction of movement in With respect to a device-fixed, local coordinate system (K1) of the motion specification means (5), the system (1) being set up as a function of the orientation of the local coordinate system (K1) in a world coordinate system (Kw) of the manipulator (3). to perform a conversion or transformation of this direction of movement with respect to the local coordinate system (Kl) in an equivalent or the same direction of movement with respect to the world coordinate system (Kw) of the manipulator (3).
[18]
18. System according to any one of the preceding claims, characterized in that the movement setting means (5) comprises an input element (18), by the actuation of which a change from the first to the second or from the second to the first operating mode by the operator is either directly veranladbar or with which input element (18) predefined limits for an automatic change of the operating mode are temporarily deliberately changed so that this change of operating mode is faster, or that an actuation of this input element (18) as additional information for a plausibility control of an automatically initiated change of Operating mode is involved.
[19]
19. System according to one of the preceding claims, characterized in that the movement specification means (5) comprises a display element (19), which display element (19) is adapted to signal an operator, whether the system (1) in the first or in second operating mode is located.
[20]
20. System according to any one of the preceding claims, characterized in that the movement specifying means (5) via a wirelessly constructed communication connection (10), in particular a radio link with the control device (6) of the manipulator (3) can be coupled in terms of data technology.
[21]
21. Method for spatially moving an object (2) by means of a manipulator (3), in particular an industrial robot, controlled by an electronic control device (6, 6 '), comprising the steps of: a) producing an at least temporary movement coupling of the object to be moved (2 ) with an end effector (4) of the manipulator; b) bringing a movement preselection means (5), which at least temporarily is manually movable freely in space, into a reference orientation, which reference orientation is predetermined relative to a world coordinate system (Kw) of the manipulator (3) and the control device (3) 6, 6 ') is known, or which reference orientation can be calculated by the control device (6, 6'); c) calculating a first transformation matrix for the transformation of direction vectors between a local coordinate system (K1) of the reference orientation-oriented motion specification means (5) and the world coordinate system (Kw) of the manipulator (3) related to the motion specification means (5); d) bringing the movement specification means (5) by the operator from its reference orientation to an arbitrary position desired by the operator on the object (2) to be moved by the manipulator (3), the first transformation matrix being based on the sensor signals of the inertial sensors ( 7) is updated in accordance with the change in the orientation of the movement command means (5); e) establishing a physical coupling or a rigid movement connection between the movement specifying means (5) and the object to be moved (2) by the operator; f) providing a second transformation matrix by the control device (6, 6 ') of the manipulator (3), which comprises a transformation of direction vectors between the world coordinate system (Kw) of the manipulator (3) and an effector coordinate system (Ke ) according to the present at the coupling time pose of the manipulator (3) allows; g) determining a third transformation matrix from the first and second transformation matrix, said third transformation matrix enabling a transformation of direction vectors between the local coordinate system (Kl) of the motion specification means (5) and the effector coordinate system (Ke) rigidly associated with the end effector (4); h) continuous operations of the movement command means (5) by the operator in those operating directions which at least partially correspond to the intended directions of movement of the object (2) and detection of directional information on the operating actions of the operator continuously performed on the movement command means (5), and repeated provision of one of the second transformation matrix updated by the control device (6, 6 ') and continuous transformation of this direction information by means of the second and the third transformation matrix into the world coordinate system (Kw) of the manipulator (3) and initiation of the currently present pose of the manipulator (3) Movements of the manipulator (3) by the control device (6) such that directions of movement of the object (2) at least partially initiated by the operator of the movement specifying means (5) actuating directions correspond.
[22]
22. Method according to claim 21, characterized in that in step h) between the provision times of the updated second transformation matrix provided by the control device (6, 6 ') an update of this second transformation matrix, or of the whole of the second and third transformation matrix based on a Extrapolation from temporally preceding values, or based on the signals of the inertial sensors (7) takes place.
[23]
23. The method according to claim 21 or 22, characterized by an actuation of the movement specifying means (5) by the operator by tensile, compressive, tilting or rotational stresses against the movement specifying means (5) in those actuation directions which the intended by the operator movement directions of Object (2) correspond at least partially.

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同族专利:

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公开号 | 公开日

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WO2017152208A1|2017-09-14|

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EP3427112B1|2020-02-19|

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AT518481B1|2018-09-15|

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JP2019512785A|2019-05-16|

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JP6882317B2|2021-06-02|

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EP3427112A1|2019-01-16|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA50184/2016A|AT518481B1|2016-03-07|2016-03-07|System and method for the spatial movement of an object|ATA50184/2016A| AT518481B1|2016-03-07|2016-03-07|System and method for the spatial movement of an object|

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JP2018546859A| JP6882317B2|2016-03-07|2017-03-07|Systems and methods for spatially moving objects using manipulators|

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EP17717062.8A| EP3427112B1|2016-03-07|2017-03-07|System and method for spatially moving an object by means of a manipulator|