DE102016005029A1 - Robot with mobile carrier and manipulator - Google Patents

Abstract

An inventive method for controlling a robot comprising a mobile carrier (20) having a motion drive assembly (21), a manipulator (10) having an actuator assembly (q1-q7) and a controller (30) disposed on the carrier comprises the step of By driving (S20) the actuator and the motion drive assembly to perform a target movement of a manipulator-fixed reference (TCP).

Description

The present invention relates to a robot having a mobile carrier and a manipulator arranged on the carrier, and a method for controlling the robot and a computer program product for carrying out the method.

For example, from the DE 10 2012 208 095 A1 For example, a robot with a mobile carrier and a manipulator arranged in the form of a robot arm is known.

Typically, the mobile carrier is thereby suitably positioned beforehand, for example so that a component to be processed by the robot is located in the working area of the manipulator, and then, with the carrier still moving, only the manipulator moves.

So far, however, the potential of mobile robots is only partially used.

The object of the present invention is to improve the operation, in particular the programming, of a mobile robot.

This object is achieved by a method having the features of claim 1. Claims 16, 17 protect a robot with a controller and a computer program product for carrying out a method described herein. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, a (mobile) robot has a mobile carrier with a motion drive assembly, a manipulator arranged on the carrier with an actuator assembly and a controller which may be wholly or partially arranged on the carrier in a development.

In one embodiment, the mobile carrier has a chassis coupled to the motion drive arrangement, in particular a wheel chassis with one or more (drive) wheels coupled to the motion drive arrangement and / or one or more non-powered wheels. In a further development, one or more of the (drive and / or non-driven) wheels are omnidirectional wheels, in particular so-called mecanum wheels. Additionally or alternatively, in one embodiment, one or more of the (drive and / or non-drive) wheels are passive or active or pivotable or steerable by steering drives of the motion drive assembly. Likewise, in one embodiment, the mobile carrier may include an air cushion, crawler, or track undercarriage, a walker mechanism having two or more legs, an aircraft propulsion, or the like. In one embodiment, the mobile carrier has one, two or three translatory degrees of freedom and / or one, two or three rotational degrees of freedom relative to an environment of the robot or carrier, in particular a bottom surface of an environment of the robot or carrier Movement drive assembly is actively moved or can be moved. Thus, it can in particular be rail-bound or guided or freely movable, in particular horizontally freely displaceable horizontally and / or longitudinally and / or rotatable or pivotable about the vertical. Similarly, in one embodiment, the mobile robot may be a humanoid, arachnoid, or similar robot, or its mobile carrier may be two or more legs or a flying robot, or its mobile carrier may comprise a propulsion, in particular one or more rotating wings, such as a helicopter or drone platform , In one embodiment, the movement drive arrangement has one or more drives, in particular electric or hydraulic motors.

In one embodiment, the manipulator has one or more, in particular at least four, in particular five, in particular exactly or at least six, in particular at least seven, joints or axes or degrees of freedom that can be actuated or moved or adjusted by the actuator arrangement , he may in particular be a robot arm. In one embodiment, one or more of the joints or axes are hinges or axes and / or one or more of the joints or axes thrust joints or linear axes. In one embodiment, the manipulator has a (opposite to the carrier) distal end flange to which in an embodiment an end effector, in particular a tool, in particular a, in particular mechanical, pneumatic and / or magnetic, gripper, can be fastened, in particular is attached, in particular solvable. The actuator assembly has in one embodiment, one or more drives, in particular electric or hydraulic motors on.

The controller is in one embodiment, in particular wireless or wired, connected to the motion and / or the actuator assembly and, in particular hardware and / or software, in particular program technology, set up to carry out a method described here.

According to one embodiment of the present invention, a method for controlling the robot comprises the step of: driving the positioning and moving drive assembly to perform a target movement of a manipulator fixed reference or such that a manipulator fixed reference (within a tolerance or so far possible) executes a desired movement or seeks to execute. Accordingly, in one embodiment of the robot, in particular its control, means for controlling the actuating and the movement drive arrangement for or when executing a desired movement of a manipulator-fixed reference.

As a result, the mobile carrier is involved in the execution of the desired movement of the manipulator-fixed reference. As a result, the potential of the mobile robot can be better utilized.

In one embodiment, a drive comprises the transmission of control commands to the corresponding drive arrangement, in particular of control commands from the control to the actuator arrangement for at least temporarily moving the manipulator by its actuator arrangement and / or control commands from the controller to the motion drive arrangement for at least temporarily moving the carrier by its movement drive arrangement, in particular at least temporarily alone or in relation to the carrier stationary manipulator and / or at least temporarily synchronously with a movement of the manipulator by its actuator assembly.

The manipulator-fixed reference can be defined in one embodiment with respect to the end flange, in particular stationary, in particular, it can have, in particular, at least one (so-called) Tool Center Point ("TCP") of the manipulator.

The desired movement may in particular comprise one or more desired positions, in particular one or more dimensional positions and / or orientations, of the reference, in particular a one or more, in particular six dimensional desired trajectory of the reference, in particular relative to one, in particular fixed, environment of the robot or one, in particular stationary, world coordinate system. Additionally or alternatively, in one embodiment, the desired movement may comprise a, in particular temporal, change of a desired position, in particular a displacement in one or more directions and / or a rotation about one or more axes.

In one embodiment, the desired movement is determined or predetermined in advance or offline, for example based on predetermined processing and / or transport paths of payloads or the like.

In one embodiment, the target movement of the manipulator-fixed reference, in particular online, based on a manual application of force to the manipulator, in particular a manipulator-fixed actuator, determined or predetermined by an operator. Accordingly, in one embodiment of the robot, in particular its controller, means for determining the desired movement of the manipulator-fixed reference, in particular online, based on a manual application of force to the manipulator, in particular a manipulator-fixed actuator by an operator. In a further development, the control or the means determines the desired movement so that the desired movement follows the manual application of force or to reduce, in particular minimize, searches, in particular such that a direction of the desired movement parallel to one direction the manual application of force or a predetermined projection of the manual application of force, for example in a predetermined motion subspace, is, or is set up for this purpose.

The application of force is detected in a further development by means of sensors in joints of the manipulator, sensors between the manipulator and the carrier and / or sensors on one or more members of the manipulator, in particular by means of sensors on one, in particular non-destructively detachable or non-destructive releasably, with the manipulator, in particular its end flange, connected actuating device, in particular a handle, and / or by means of a tactile surface of the manipulator. In one embodiment, the manipulator for determining or inputting the target movement is yielding, in particular gravitationally compensated, regulated, in particular direct or indirect force-controlled, in particular admittance or impedance-controlled, in the present case for a more compact representation also generalized as a controller and control antiparallel force pair or torque generalized as force is called.

Additionally or alternatively, in one embodiment, the target movement of the manipulator-fixed reference, in particular online, also based on an operation, in particular movement, a spaced from the robot and signal-connected to the controller input device, in particular a joystick, a computer mouse, control buttons or the like, be determined.

Accordingly, in one embodiment, a system comprises the robot and means, in particular sensors, for detecting a manual application of force to the manipulator, in particular a tamper-proof actuator, and / or an input device spaced from the robot and signal-connected to the controller, and means for determining the target value. Movement based on signals of this force (apply) detecting means and / or input device.

According to one embodiment, the method comprises the step: moving or repositioning of the carrier by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference as a function of a, in particular current or pose of the manipulator relative to the carrier, in Dependence on one, in particular current or actual, position of the carrier relative to the environment, as a function of the desired movement and / or as a function of a manipulator-controlled payload. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference in response to a, in particular current or actual pose of the manipulator relative to the carrier , in dependence on a, in particular current or actual, position of the carrier relative to the environment, in dependence on the desired movement and / or in dependence on a manipulator-controlled payload.

In one embodiment, the method comprises, in particular, the step of moving the carrier through the movement drive arrangement during execution of the target movement of the manipulator-fixed reference as a function of a movement reserve of the manipulator and / or as a function of a movement reserve of the carrier. Accordingly, in one embodiment, the robot, in particular its control, has means for moving the carrier by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference as a function of a movement reserve of the manipulator and / or as a function of a movement reserve of the carrier ,

In one embodiment, a movement reserve of the manipulator depends, in particular proportionally, on a ratio of a current to a maximum, in particular horizontal, display or deflection of the manipulator, in particular relative to the carrier, or the quotient of a current divided by a maximum, in particular horizontal, Distance (es) of its distal end flange of a carrier-fixed reference, in particular a carrier axis of the manipulator, from, they can specify in particular this ratio or this quotient or be defined thereby. In the present case, horizontal is also understood to mean in general terms a reference plane in which the mobile carrier can move.

In one embodiment, a maximum delivery or a maximum distance of the distal end flange can be defined or defined, in particular, by soft stops and / or hardware-related stops in one or more axes or degrees of freedom of the manipulator. In this case, in a further development, a maximum delivery or a maximum distance of the distal end flange for controlling the mobile robot according to the invention may also be selected to be smaller or as a structurally possible and / or safety-related value, in particular, for an early activation or movement to realize the carrier.

In one embodiment, a movement reserve of the wearer, in particular proportionally, depends on the distance of his current position to soft and / or hardware-technical, environmentally fixed attacks or limits, in particular, this distance can be specified or defined thereby. Here, too, in a further development, a maximum distance to the control of the mobile robot according to the invention may be selected to be smaller or as a structurally possible and / or safety-related value, in particular in order to realize an early deactivation or shutdown of the carrier.

In one embodiment, the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference is so or driven such that a movement reserve of the manipulator and / or the carrier is increased. Accordingly, in one embodiment of the robot, in particular its control means for controlling the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference so that a movement reserve of the manipulator and / or the carrier is increased on.

In particular, for at least one target position of the manipulator-fixed reference (in each case), the controller can determine two different possible positions of the mobile carrier and select the one from there and control the movement drive arrangement for approaching this selected position, in which the manipulator and / or carrier carry the larger one Have movement reserve, or be set up for this purpose.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, a reserve of movement is advantageously kept available, so that, for example, larger and / or faster desired movements are made possible.

Additionally or alternatively, in one embodiment, the carrier is only (then) moved by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference, if or as long as there is a movement reserve of the manipulator and / or the carrier predetermined limit, in particular minimum value falls below. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference only (then), if or as long as a movement reserve of the manipulator and / or the carrier a predetermined limit, in particular minimum value falls below.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, the carrier is moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase precision of movement.

In one embodiment, the movement reserve is determined as a function of the desired movement of the manipulator-fixed reference, in particular in the direction of the desired movement, in particular a horizontal component of the desired movement. Accordingly, in one embodiment of the robot, in particular its control, means for determining the movement reserve in dependence on the target movement of the manipulator-fixed reference, in particular in the direction of the target movement, in particular a horizontal component of the target movement on.

As a result, in one embodiment, a future advantageous movement reserve based on the desired movement can be predicted.

In addition or as an alternative to consideration of a movement reserve, in one embodiment the method comprises, in particular, the step of moving the carrier through the movement drive arrangement when executing the target movement of the manipulator-fixed reference in dependence on a tilting stability of the robot. Accordingly, in one embodiment, the robot, in particular its controller, has means for moving the carrier through the movement drive arrangement for or during the execution of the target movement of the manipulator-fixed reference in dependence on a tilting stability of the robot.

In one embodiment, a tilt stability of the robot, in particular proportionally, depends on a torque which is impressed by a manipulator-controlled payload. Accordingly, in one embodiment it is determined as a function of a weight and / or a horizontal distance between a manipulator-guided payload and the carrier, in particular a carrier-fixed reference, in particular a tilting edge or a center of gravity of the robot, in particular next to the payload. Accordingly, in one embodiment of the robot, in particular its control, means for determining a tilt stability of the robot depending on a weight and / or a horizontal distance of a manipulator-controlled payload to the carrier, in particular a carrier-fixed reference, in particular one, in particular Nutzlastnächsten, tilting edge or a focus of the robot, on.

In one embodiment, the movement drive arrangement for or during the execution of the target movement of the manipulator-fixed reference is controlled so that a tilting stability of the robot is increased. Accordingly, in one embodiment of the robot, in particular its control, means for controlling the movement drive arrangement for or during the execution of the target movement of the manipulator-fixed reference so that a tilting stability of the robot is increased on.

In particular, for at least one target movement of the manipulator-fixed reference (in each case), the controller can determine at least two different possible positions of the mobile carrier and select the one and drive the motion drive arrangement for approaching this selected position, in which the robot has the greater tilt stability, or be set up for this purpose.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, the risk of overturning is advantageously reduced or stability is increased.

Additionally or alternatively, in one embodiment, the carrier is only moved by the movement drive arrangement for or during execution of the target movement of the manipulator-fixed reference if or as long as a tilt stability of the robot falls below a predetermined limit, in particular minimum value. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly for or during execution of the target movement of the manipulator-fixed reference only if or as long as a tilt stability of the robot falls below a predetermined limit, in particular minimum value , on.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, the carrier is moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase precision of movement.

Additionally or alternatively to a consideration of a movement reserve and / or In one embodiment, the tilting stability of the method comprises, in particular, the step of moving the carrier by the movement drive arrangement when executing the target movement of the manipulator-fixed reference in dependence on a horizontal component of the target movement of the manipulator-fixed reference. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly for or on the execution of the target movement of the manipulator-fixed reference in response to a horizontal component of the target movement of the manipulator-fixed reference.

In a further development, the carrier is only moved by the movement drive arrangement for or during execution of the desired movement of the manipulator-fixed reference if or as long as a horizontal component of the desired movement of the manipulator-fixed reference exceeds a predetermined limit, in particular maximum value. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly for or executing the target movement of the manipulator fixed reference only, if or as long as a horizontal component of the target movement of the manipulator-fixed reference a predetermined Limit, in particular maximum value exceeds, on.

In particular, in one embodiment of a movement of the manipulator, a movement of the carrier can be superimposed, so as to realize a higher target movement, in particular horizontal target speed.

As a result, in one embodiment, during the execution of the desired movement of the manipulator-fixed reference, the carrier is moved only as required or can stand still when not needed and thus in particular reduce energy consumption and / or risk of collision and / or increase precision of movement.

In one embodiment, the method comprises the step of: moving the carrier by the movement drive arrangement and / or the manipulator by the actuator arrangement for executing the target movement of the manipulator-fixed reference as a function of a, in particular target and / or current or actual, pose the manipulator relative to the carrier and / or one, in particular target and / or current or actual position of the carrier relative to the environment by means of or based on an automated redundancy resolution, in particular optimization, a single or multiple redundancy of, in particular entire, mobile robot, in particular such that a manipulability of, in particular entire, mobile robot and / or its distance to obstacles and / or hardware and / or software technically predetermined Cartesian and / or axis stops is increased, in particular maximized. Accordingly, in one embodiment of the robot, in particular its control, means for moving the carrier by the motion drive assembly and / or the manipulator by the actuator assembly for carrying out the desired movement of the manipulator-fixed reference as a function of one, in particular target and / or current or actual, pose of the manipulator relative to the carrier and / or one, in particular target and / or current or actual, position of the carrier relative to the environment by means of or on the basis of an automated redundancy resolution, in particular optimization, a or multiple redundancy of, in particular entire, mobile robot, in particular such that manipulability of, in particular overall, mobile robot and / or its distance to obstacles and / or hardware and / or software technically predetermined Cartesian and / or axle stops increased, in particular maximized becomes.

In one embodiment, the manipulator carries a payload, in particular a workpiece or a person, in particular a person impaired in movement, in particular by means of an end effector arranged on his distal end flange, in particular a gripper, a carrying device or the like.

Thus, in one embodiment, the robot can in particular carry out a movement of payloads alone or in cooperation with another robot or one, in particular the guided person, in particular support a movement of payloads. In particular, in one embodiment, the robot can compensate for or support the weight of a manipulator-guided payload, so that the operator can handle it advantageously.

According to an embodiment of the present invention, the method comprises the steps of: storing one or more positions, in particular a position (or trajectory) of the carrier when executing the target movement of the manipulator-fixed reference, in an embodiment together with or after a ( preceding) locating the carrier or its position (s) to be stored by means of a locating means, and optionally modifying the one or more of said stored position (s) of the carrier. Accordingly, in one embodiment, the robot, in particular its control, means for storing one or more positions, in particular a position (ab) or train of the carrier when executing the target movement of the manipulator-fixed reference and means for selectively modifying the or one or more of these stored position (s) of the carrier and in a further development of localization means for locating the carrier or its (stored) position (s). In one embodiment, the locating means detects optically the position (s) to be stored, in particular by means of laser beams, or is set up for this purpose. Additionally or alternatively, in one embodiment, the localization means is arranged completely or partially robotically, in particular carrier side, and / or completely or partially on the environment side, it may in particular have one or more onboard laser scanners and / or a (robot) external tracking system.

In one development, the method comprises, in particular, the steps of: storing one or more positions, in particular a position (from) sequence or path, of the carrier when executing the desired movement of the manipulator-fixed reference, repeating the execution of the desired movement of the manipulator-fixed reference Approaching the stored position (s) of the carrier, and optionally modifying the one or more of said stored position (s) of the carrier during this repetitive or repetition of execution. Accordingly, in one embodiment of the robot, in particular its control means for storing one or more positions, in particular a position (ab) sequence or train, the wearer when executing the desired movement of the manipulator-fixed reference, means for repeating the execution of the target Movement of the manipulator-fixed reference approaching the stored position (s) of the carrier, and means for selectively modifying the one or more of these stored position (s) of the carrier during this repetitive or repetition of the execution.

Thus, in an embodiment in a first phase or a first pass, first, in particular by means of or on the basis of an automated redundancy resolution, in particular optimization, advantageous positions of the carrier for or during execution of the desired movement of the manipulator-fixed reference can be determined, in particular in a manner described here taking into account a reserve of movement of the manipulator and / or the carrier, a tilting stability of the robot and / or a horizontal component of the target movement of the manipulator-fixed reference.

Then in a second phase stored positions of the carrier are modified as needed, in particular manually or by operator input, for example, to avoid obstacles or the like, and / or computer-aided, for example, to subsequently optimize the movement, in particular by means of or on the basis of an automated Redundancy resolution, in particular optimization, a single or multiple redundancy of, in particular entire, mobile robot, in particular such that a manipulability of, in particular entire, mobile robot and / or its distance to obstacles and / or predetermined hardware and / or software Cartesian and / or axle stops increased, in particular, is maximized. In particular, in the second phase, the setpoint movement of the manipulator-fixed reference under the approach of the positions of the carrier, as determined in the first phase, again executed or repeated, in particular a desired trajectory of the manipulator fixed reference (again) traversed and thereby the positions of the carrier stored in the first phase are modified as needed.

In one embodiment, in addition to the position (s) of the wearer, poses of the manipulator relative to the wearer, in particular persistently, are stored and / or optionally modified, in particular during the repeated execution of the stored positions and poses. Additionally or alternatively, in one embodiment, position (s) of the wearer are stored in a map that is used in a development for navigation of the wearer. Accordingly, in an embodiment of the robot, in particular its control, means for, in particular persistent, storing poses of the manipulator relative to the carrier in addition to position (s) of the carrier and / or for selectively modifying poses of the manipulator relative to the carrier, in particular during the repeated execution of the stored positions and poses. In one embodiment, the robot, in particular its controller, has means for storing the position (s) of the carrier in a card, which is used in a development for a navigation of the carrier.

Accordingly, in one embodiment, the method includes the step of: modifying the one or more of the stored position (s) of the carrier based on an operator input during repetitive execution of the target movement of the manipulator-fixed reference. Accordingly, in one embodiment, the robot, in particular its controller, has means for modifying the or one or more of the stored position (s) of the carrier on the basis of an operator input during the repeated execution of the target movement of the manipulator-fixed reference.

The operator input may in a development, in particular a manual application of force to the manipulator and / or carrier, in particular a manipulator or carrier-resistant actuator, and / or an operation, in particular movement, one of the robot spaced and with the controller Include signal-connected input device, in particular as described here with reference to the determination or specification of the desired movement of the manipulator-fixed reference.

In one embodiment, the execution of the target movement of the manipulator-fixed reference under approach of the stored position (s) of the carrier at reduced speed of manipulator and carrier is repeated and thereby modifies the one or more of the stored position (s) of the carrier. Accordingly, in one embodiment of the robot, in particular its control, means for repeating the execution of the target movement of the manipulator-fixed reference under approaching the stored position (s) of the carrier with reduced speed of manipulator and carrier and means for modifying the or a plurality of the stored position (s) of the carrier based on an operator input during this repeated execution at a reduced speed.

In this way, in one embodiment, the modification can be simplified and / or the safety and / or precision can be increased.

A position of the carrier in one embodiment describes its one, two or three-dimensional position and / or one, two or three-dimensional orientation relative to a, in particular stationary, environment, in particular a component to be machined, or a, in particular stationary, world coordinate system.

In one embodiment, (respectively) a stored position of the carrier and a target position of the manipulator fixed reference or pose of the manipulator relative to the carrier or when executing the target movement of the manipulator fixed reference assigned to each other or linked, in particular stored together. Accordingly, in one embodiment, the robot, in particular its control, means for assigning or (in each case) a stored position of the carrier and a target position of the manipulator fixed reference or a pose of the manipulator relative to the carrier to or during the execution of Target movement of the manipulator-fixed reference to each other, in particular for storage together.

In one embodiment, modifying may include, in particular, changing and resaving, in particular overwriting or replacing a stored position.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the robot.

One or more of the steps of the method are carried out in an embodiment completely or partially automated, in particular by the controller, or their means, which is set up in an embodiment for fully or partially automated execution of one or more of the steps described herein ,

Further advantages and features emerge from the subclaims and the exemplary embodiments. To show this, partially schematized:

1A - 1D : the control of a robot according to an embodiment of the present invention; and

2 A method according to an embodiment of the present invention.

1A shows a robot according to an embodiment of the present invention with a manipulator in the form of a seven-axis robotic arm 10 , whose joints or axes or degrees of freedom by actuators q ₁ , ..., q _{7 of} an actuator assembly of the robot are adjustable.

The robot arm 10 has a distal end flange 11 with an end effector in the form of a gripper 12 on top of a payload 13 leads.

He is on a mobile carrier 20 arranged, whose Mecanumräder by movement drives 21 a movement drive assembly of the robot are adjustable.

On the carrier 20 is also a robot controller 30 arranged, which is signal-connected with the actuator and the motion drive assembly and a below with reference to 2 and the sequence of figures 1A → 1B → 1C → 1D explained method according to an embodiment of the present invention performs.

In a first step S10 (cf. 2 ) determines the control 30 on the basis of a manual application of force F of the manipulator (cf. 1A ) a desired (sequence) movement of a manipulator-fixed reference in the form of the TCP of the robot arm 10 ,

In one embodiment, the manual application of force by sensors in the joints of the robot arm 10 or between robotic arm 10 and carriers 20 be recorded. In a modification, it may also be provided by sensors on an actuator in the form of a handle 14 to be recorded in 1A indicated by dashed lines. In a further modification, the desired movement can also be effected, for example, by means of the joystick of a radio-connected input device 15 , in the 1A indicated by dashed lines, or the like entered or determined by a path planning.

In a second step S20, the controller determines 30 based on a current pose of the robot arm 10 its reserve of movement in the direction of this target movement and its tipping stability on the basis of weight and payload 13 and their horizontal distance to the payload next tilting edge of the carrier 20 (Riot line of the right wheel in 1A ).

If, as in 1A indicated, the tilt stability due to the delivery of the robot arm falls below a predetermined threshold, controls the controller 30 in step S20, the moving drive assembly 21 so that this is the carrier 20 moves so that the tipping stability is increased. This is through the sequence of figures 1A → 1B and the movement arrow x in 1B indicated. In one embodiment, the controller 30 the motion drive assembly 21 and control the actuator arrangement q ₁ ,..., q ₇ by means of or based on an automated redundancy resolution, in particular optimization, a single or multiple redundancy of the entire mobile robot, for example such that (in addition) a distance of the mobile robot Obstacles is increased.

In a third step S30, the controller stores 30 this approached position of the wearer 20 relative to an environment, for example relative to the payload 13 or a fixed landmark, together with the position of the TCPs.

In a step S40, the controller checks 30 whether a set movement of the TCP is still input. If so (S40: "Y"), it returns to step S10.

This allows the robot to lift the payload vertically 13 support and proceeds automatically for this purpose in an advantageous, tilt-stable position (see. 1A . 1B ).

Subsequently, in the embodiment, the operator moves the lifted, manipulator-guided payload 13 horizontally, as in the sequence of figures 1C → 1D indicated. The robot carries or carries the payload 13 or compensates for their weight.

For this purpose, the operator now imprints a horizontal manager F, on the basis of which the controller 30 In step S10, a corresponding desired (sequence) movement of the TCP determined.

In step S20, the controller determines 30 Based on the current pose of the robot arm 10 in turn its reserve of movement in the direction of this target movement and its stability to tilting on the basis of weight and payload 13 and their horizontal distance to the payload next tilting edge of the carrier 20 ,

If, as in 1C implied, the robot arm 10 still has sufficient tilt stability and a sufficient reserve of movement in the direction of the target movement and the speed is below a predetermined limit, controls the controller 30 in step S20, the positioning and moving drive assembly so that the robot arm 10 only the target movement follows while the wearer 20 stationary. This is in 1C by corresponding movement arrows of the robot arm 10 indicated.

If, on the other hand, as in 1D implied, the robot arm 10 does not have sufficient Kippstabilität or movement reserve in the direction of the desired movement more or their speed exceeds a predetermined limit, controls the controller 30 in step S20, the positioning and moving drive assembly so that the carrier 20 moves so much that the TCP alone due to the movement of the carrier 20 or due to a superimposed movement of the robot arm 10 the target movement follows. This is in 1D indicated by the movement arrow x.

As stated above, an automated redundancy optimization of the entire mobile robot can be carried out in each case in particular.

These steady or changing positions of the wearer 20 relative to the environment stores the controller 30 again in step S30 together with the corresponding positions of TCPs and checks in step S40, whether a target movement of the TCP is still input.

If this is no longer the case (S40: "N"), it proceeds to step S50.

In this it repeats the execution of the target movement of the TCPs approaching the associated stored positions of the carrier 20 ,

For example, it controls the motion drive assembly 21 of the carrier 20 so that this when lifting a payload again 13 again the determined tilt stable position relative to the payload anfährt (see. 1B ), in sections of the trajectory of the TCP, in which the tilting stability and movement reserve of the robot arm 10 is sufficient and the speed of the target movement is below a threshold, remains in one position (see. 1C ) or in sections of the trajectory of the TCP, in which the tipping stability or movement reserve of the robot arm 10 is insufficient or the speed of the target movement is above the limit, alone or together with a superimposed movement of the robot arm 10 realized the trajectory of the TCP.

The controller detects this 30 in each case an operator input x ', for example, a movement command to the motion drive assembly 21 of the carrier 20 by means of manual application of force to the carrier, joystick or the like and optionally modifies the stored position of the carrier 20 by changing these according to the operator input x 'and stores again, for example, overwrites the stored position.

In a step S60, the controller checks 30 whether the target movement of the TCP has been completely executed. If so (S60: "Y"), the process ends; otherwise (S60: "N"), control returns to step S50.

Thus, in a first phase (steps S10-S40), first of all, in particular by manual guidance, a desired trajectory of the TCP is predetermined and thereby automatically a favorable path or position sequence for the carrier 20 be determined so that the robot arm 10 a greater reserve of movement and the robot has a greater tilt stability. Subsequently, in a second phase (steps S50-S60), this path of the carrier 20 when repeating the stored trajectory of the TCP and the stored associated path of the carrier by the operator still be modified, for example, to avoid new obstacles.

In this case, in step S50, the speed of robot arm 10 and carriers 20 be reduced to facilitate the modification. In addition or as an alternative to a modification based on an operator input, the path or position sequence of the carrier can be repeated when executing the execution of the target movement of the TCP 20 also modified computer-aided, for example, be optimized by path planning, in particular by means of or on the basis of automated redundancy resolution, in particular optimization, a redundancy of the entire mobile robot, in particular such that a manipulability of the entire mobile robot and / or its distance to obstacles and / / or hardware and / or software technical Cartesian and / or axis stops is increased.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

10

Robotic arm (manipulator)

11

end flange

12

grab

13

payload

14

Handle (actuator)

15

external input device

20

mobile carrier

21

(Mecanum wheel with) motor drive

30

(Robot) control

F

manual application of force

q ₁ , ..., q ₇

Actuator (sfreiheitsgrad)

x

Movement of the carrier

x '

operator input

TCP

Tool Center Point

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102012208095 A1 [0002]

Claims (17)

Method for controlling a robot, comprising a mobile carrier ( 20 ) with a motion drive assembly ( 21 ), a manipulator (FIG. 10 ) with an actuator assembly (q ₁ -q ₇ ) and a controller ( 30 ), comprising the step of: driving (S20) said actuator and said motion drive assembly to perform a target movement of a manipulator-fixed reference (TCP). Method according to claim 1, characterized by the step of: moving (S20) the carrier ( 20 ) by the motion drive assembly ( 21 ) for carrying out the target movement of the manipulator-fixed reference (TCP) as a function of a pose of the manipulator ( 10 ) relative to the carrier ( 20 ), a position of the carrier ( 20 ) relative to the environment, the desired movement and / or a manipulator-controlled payload ( 13 ). Method according to claim 2, characterized by the step of: moving (S20) the carrier ( 20 ) by the motion drive assembly ( 21 ) for executing the target movement of the manipulator-fixed reference (TCP) as a function of a movement reserve of the manipulator ( 10 ) and / or the carrier ( 20 ). Method according to claim 3, characterized by the step: Determining (S20) the movement reserve as a function of the target movement of the manipulator-fixed reference. Method according to one of the preceding claims, characterized by the step: moving (S20) the carrier ( 20 ) by the motion drive assembly ( 21 ) for performing the target movement of the manipulator-fixed reference (TCP) in response to a tilting stability of the robot. Method according to claim 5, characterized by the step of determining (S20) the tilting stability as a function of a weight and / or a horizontal distance of a manipulator-guided payload ( 13 ) to the carrier. Method according to one of the preceding claims, characterized by the step: moving (S20) the carrier ( 20 ) by the motion drive assembly ( 21 ) for executing the target movement of the manipulator-fixed reference (TCP) in dependence on a horizontal component of the target movement. Method according to one of the preceding claims, characterized in that the manipulator ( 10 ) a payload ( 13 ) leads. Method according to one of the preceding claims, characterized in that the movement drive arrangement ( 21 ) for executing the target movement of the manipulator-fixed reference (TCP) is controlled so that a tilting stability of the robot and / or a movement reserve of the manipulator ( 10 ) and / or the carrier ( 20 ) is increased. Method according to one of the preceding claims, characterized by the steps of: storing (S30) at least one position of the carrier (S30) 20 ) when executing the target movement of the manipulator-fixed reference; and selectively modifying (S50) at least one position of the carrier stored in carrying out the target movement of the manipulator-fixed reference. A method according to claim 10, characterized by the steps of: repeating (S50) the execution of the target movement of the manipulator-fixed reference (TCP) while approaching the at least one stored position of the carrier ( 20 ), wherein at least one stored position of the carrier is optionally modified during this repeated execution. A method according to claim 11, characterized in that the execution (S50) of the desired movement of the manipulator-fixed reference (TCP) while approaching the at least one stored position of the carrier ( 20 ) is repeated at reduced speed and thereby at least one stored position of the carrier is modified. Method according to one of the preceding claims 10 to 12, characterized by the step: Modifying (S50) the at least one stored position of the carrier based on an operator input (x '). A method according to claim 13, characterized in that the operator input (x ') a manual application of force to the manipulator ( 10 ) and / or carrier ( 20 ), in particular a manipulator or carrier-fixed actuating device ( 14 ), and / or an actuation, in particular movement, of an input device spaced apart from the robot and signal-connected to the controller ( 15 ). Method according to one of the preceding claims, characterized by the step of determining the target movement of the manipulator-fixed reference (TCP) on the basis of a manual Applying force to the manipulator ( 10 ), in particular a manipulator-fixed actuating device ( 14 ), and / or an actuation, in particular movement, of an input device spaced apart from the robot and signal-connected to the control ( 15 ). Robot with a mobile carrier ( 20 ) comprising a motion drive assembly ( 21 ), a manipulator arranged on the carrier ( 10 ) having an actuator assembly (q ₁ -q ₇ ) and a controller ( 30 ), which is set up to carry out a method according to one of the preceding claims. A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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