DE102023206924B3 - Determining target positions of motion axes of a robot arrangement - Google Patents

Abstract

A method for determining target positions of movement axes of a robot arrangement which has at least one kinematics (1) with several movement axes (A1-A6), comprises: determining (S70) one or more target positions of the movement axes of the kinematics on the basis of a) a connection of at least one geometric primitive specified as a controllable primitive to the movement axes of the kinematics, b) a first geometric constraint which is specified for at least one specified geometric primitive, and c) an identity or specified link of this primitive, for which the first geometric constraint is specified, with the controllable primitive. The invention also relates to a method for operating the robot arrangement, a method for programming a process for operating the robot arrangement, a system and a computer program (product).

Description

The present invention relates to a method for determining target positions of motion axes of a robot arrangement which has one or more kinematics with (each) several motion axes, a method for operating the robot arrangement on the basis of the target position(s) determined in this way, a method for programming a process for such operation of the robot arrangement and a system or computer program or computer program product for carrying out a method described here.

In industry, processes carried out by robots are usually implemented using robot paths. For this purpose, the Cartesian path to be followed by the robot is usually described by standard robot movements such as LIN, CIRC or spline. This path is configured using additional parameters, e.g. speed, acceleration or blending, so that a 6D frame defined on the robot, the so-called tool center point (TCP), moves along this path. This path is then converted in the robot's control system into individual target axis positions for each point in time, so that an axis-specific movement is created for the robot, which is carried out by the robot. Analogously, instead of a Cartesian path, a path in axis space can also be specified using PTP movement.

The DE 10 2020 209 511 B3 relates to a method for determining optimized program parameters for a robot program, wherein the robot program is used to control a robot with a manipulator, preferably in a robot cell, comprising the steps of: generating the robot program using a block-based graphical programming system based on user inputs; providing an interface for selecting one or more critical program blocks, wherein optimizable program parameters can be specified for the critical program blocks; carrying out an exploration phase for exploring a parameter space with respect to the optimizable program parameters; carrying out a learning phase for generating block representatives for the critical program blocks of the robot program based on the training data collected in the exploration phase; carrying out an inference phase for determining optimized program parameters for the critical program blocks of the robot program, wherein optimizable program parameters of the block representatives are iteratively optimized with respect to a predetermined objective function using a gradient-based optimization method using the block representatives.

The DE 10 2015 204 641 A1 relates to a method for programming a robot, wherein a robot movement to be executed is set up using a predefined movement template, wherein the movement template is selected from a database comprising several movement templates, wherein the movement template comprises one or more parameterizable execution modules and at least one learning module, wherein the execution module or modules is or are used to plan and/or execute the robot movement or a partial movement of the robot movement, wherein the learning module records one or more configurations of the robot in an initialization process, and wherein the learning module calculates parameters for the execution module or modules based on the recorded configurations.

After DE 10 2015 115 229 B4 In an apparatus for controlling positioning of an object having a specified point, a first limiter establishes a range of motion of the specified point of the object and limits movement of the specified point of the object within the range of motion, the range of motion comprising a line connecting the position of the specified point of the object and a target position for the specified point of the object, a second limiter limits a change in a specified orientation of the object from increasing an angular difference between the specified orientation of the object and a target orientation for the specified orientation of the object.

The EP 2 303 521 B1 relates to industrial robots and path planning methods for controlling the movement of an industrial robot, to whose robot arm an effector is attached, which is intended to process points at a predetermined distance from a first designated point of the industrial robot.

After US 2023 / 0 027 130 A1 a kinematic model of a robot having an articulated arm and a tool coupled to the arm is stored on a computing device, the kinematic model comprising a plurality of active joints corresponding to a plurality of actuated joints of the articulated arm and one or more passive joints, for each passive joint a nominal joint position and a corresponding tolerance margin is defined to simulate a tolerance margin applicable to a nominal position and orientation of the tool with respect to an object machined by the tool the computing device determines a 3D model of the object, determines a tool path of the tool for performing a task on the object, and calculates a trajectory of the articulated arm based on the tool path, the kinematic model, and the 3D model of the object, and the calculation takes into account the nominal joint position and the tolerance margin of each passive joint.

The US 2021 / 0 394 452 A1 discloses a method for additively manufacturing a structure, the method may include generating a vector field through a virtual 3D model and dividing the virtual model into a plurality of layers aligned with the vector field, the method may further include generating at least one tool path for at least one of the plurality of layers and causing an additive manufacturing machine to place a material along the at least one tool path.

An object of an embodiment of the present invention is to improve the determination of target positions of motion axes of a robot arrangement and/or the operation of a robot arrangement and/or programming of a process for operating a robot arrangement.

This object is achieved by a method having the features of claim 1, 8 or 9. Claims 10 and 12 protect a system or computer program or computer program product for carrying out a method described here. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, a robot arrangement has one or more, preferably separate or spaced apart, kinematics, which in a further development (each) have, in particular can be, a robot arm, with (each) several axes of movement, wherein preferably the or one or more of the kinematics or robot arm(s) each have at least three, in particular at least six, in one embodiment at least seven, axes of movement. The present invention is particularly advantageous for such robot arrangements, in particular due to the complexity, applications and boundary conditions. In a preferred embodiment, a robot arrangement mentioned here is a real robot arrangement, accordingly operating (such) a robot arrangement in the sense of the present invention preferably includes actually controlling drives of the (real) robot arrangement. Likewise, a robot arrangement mentioned here can also be a virtual robot arrangement, accordingly operating (such) a robot arrangement in the sense of the present invention can include, in particular be, simulating movements of the (virtual) robot arrangement.

• - einer Anbindung wenigstens eines geometrischen Primitivs an die Bewegungsachsen der Kinematik bzw. wenigstens einer der Kinematiken, wobei dieses Primitiv, vorzugsweise durch einen Programmierer bzw. auf Basis einer Programm(ier)eingabe, als steuerbares Primitiv vorgegeben ist, in einer Ausführung wird;
• - einer ersten geometrischen Zwangsbedingung, welche für wenigstes ein vorgegebenes geometrisches Primitiv, vorzugsweise durch einen bzw. den Programmierer bzw. auf Basis einer Programm(ier)eingabe, vorgegeben ist, in einer Ausführung wird; und
• - einer Identität oder vorgegebenen Verknüpfung dieses Primitivs, für das die erste geometrische Zwangsbedingung vorgegeben ist, mit dem steuerbaren Primitiv.

According to one embodiment of the present invention, a method for determining target positions of movement axes of one or more of the kinematics of the robot arrangement comprises: determining one or more target positions of the movement axes of the kinematics on the basis of or based on or depending on:

• - a connection of at least one geometric primitive to the movement axes of the kinematics or at least one of the kinematics, wherein this primitive is specified as a controllable primitive, preferably by a programmer or on the basis of a programming input, in one embodiment;
• - a first geometric constraint, which is specified for at least one given geometric primitive, preferably by a programmer or on the basis of a programming input, in an execution; and
• - an identity or given connection of this primitive, for which the first geometric constraint is given, with the controllable primitive.

• - Vorgeben der ersten geometrischen Zwangsbedingung, vorzugsweise durch Auswählen aus zur Verfügung bzw. bereitgestellten Zwangsbedingung und/oder Parametrieren einer, vorzugsweise ausgewählten, Zwangsbedingung; und
• - Vorgeben wenigstens eines geometrischen Primitivs als steuerbares Primitiv, vorzugsweise durch Auswählen aus zur Verfügung bzw. bereitgestellten geometrischen Primitiven und/oder Parametrieren eines, vorzugsweise ausgewählten, geometrischen Primitivs;

sowie gegebenenfalls

• - Vorgeben der Verknüpfung dieses Primitivs, für das die erste geometrische Zwangsbedingung vorgegeben ist, mit dem steuerbaren Primitiv,

vorzugsweise jeweils durch entsprechende Programm(ier)eingabe(n),
wobei in einer Ausführung diese vorgegebene erste geometrische Zwangsbedingung und diese Vorgabe eines geometrischen Primitivs als steuerbares Primitiv sowie gegebenenfalls diese vorgegebene Verknüpfung zum Ermitteln der Soll-Stellung(en) nach einem hier beschriebenen Verfahren, insbesondere zum Betreiben der Roboteranordnung nach einem hier beschriebenen Verfahren, vorgesehen sind bzw. verwendet werden, insbesondere hierzu abgespeichert sind bzw. werden.Accordingly, according to an embodiment of the present invention, a method for programming a process for operating the robot assembly comprises the steps:

• - specifying the first geometric constraint, preferably by selecting from available or provided constraints and/or parameterizing a, preferably selected, constraint; and
• - specifying at least one geometric primitive as a controllable primitive, preferably by selecting from available or provided geometric primitives and/or parameterizing a, preferably selected, geometric primitive;

and, if applicable,

• - Specifying the connection of this primitive, for which the first geometric constraint is specified, with the controllable primitive,

preferably by appropriate programming input(s),
In one embodiment, this predetermined first geometric constraint and this specification of a geometric primitive as a controllable primitive and, if applicable, this specified link for determining the target position(s) according to a method described here, in particular for operating the robot arrangement according to a method described here, are provided or are used, in particular are or are stored for this purpose.

• - Ermitteln einer oder mehrerer Soll-Stellungen der Bewegungsachsen der Kinematik(en) nach einem hier beschriebenen Verfahren; und
• - Betreiben der Roboteranordnung, insbesondere tatsächliches Kommandieren bzw. (An)Steuern von Antrieben der (realen) Roboteranordnung oder Simulieren von Bewegungen der (virtuellen) Roboteranordnung, auf Basis der ermittelten Soll-Stellung bzw. Soll-Stellungen, insbesondere zum Anfahren bzw. Einnehmen dieser Soll-Stellung(en).

According to one embodiment of the present invention, a method for operating the robot arrangement comprises the steps:

• - Determining one or more target positions of the motion axes of the kinematics according to a method described here; and
• - Operating the robot arrangement, in particular actually commanding or controlling drives of the (real) robot arrangement or simulating movements of the (virtual) robot arrangement, on the basis of the determined target position or positions, in particular for approaching or assuming this target position(s).

• - ein Prozess kann besonders gut, insbesondere rasch, einfach, zuverlässig und/oder (auch) durch Nicht-Experten, auf Basis geometrischer Zwangsbedingungen für geometrische Primitive beschrieben bzw. vorgegeben werden. So kann in einem einfachen Beispiel eine (mit einem Laserfokus oder -strahl) abzufahrende Schweißbahn auf einem Werkstück durch entsprechende geometrische Primitive bzw. Zwangsbedingungen vorgegeben werden, vorteilhafterweise unabhängig von einer konkreten Kinematik;
• - die Umsetzung einer (entsprechenden) Bewegung von robotergeführten Werkzeugen und/oder Werkstücken kann besonders gut durch eine entsprechende Anbindung eines ((als) steuerbar (vorgegeben)en) geometrischen Primitivs an Bewegungsachsen der Kinematik bzw. wenigstens einer der Kinematiken beschrieben bzw. vorgegeben werden. So kann in vorstehendem einfachen Beispiel vorgegeben werden, ob ein Roboter ein Laserwerkzeug an einem ortsfesten Werkstück oder ein Werkstück an einem ortsfesten Laserwerkzeug vorbeiführen oder ein Roboter das Laserwerkzeug und ein anderer Roboter das Werkstück bewegen soll, welcher Robotertyp oder individuelle Roboter hierfür verwendet werden soll oder dergleichen.

This is based on a new (robot) process description, which advantageously combines two approaches instead of the previous practice, which already assumes a specific kinematics and specifies 6D frames for these:

• - a process can be described or specified particularly well, in particular quickly, easily, reliably and/or (also) by non-experts, on the basis of geometric constraints for geometric primitives. In a simple example, a welding path to be traced (with a laser focus or beam) on a workpiece can be specified by corresponding geometric primitives or constraints, advantageously independently of a specific kinematics;
• - the implementation of a (corresponding) movement of robot-guided tools and/or workpieces can be particularly well described or specified by a corresponding connection of a ((as) controllable (specified)) geometric primitive to movement axes of the kinematics or at least one of the kinematics. In the above simple example, it can be specified whether a robot should guide a laser tool past a stationary workpiece or a workpiece past a stationary laser tool or whether a robot should move the laser tool and another robot should move the workpiece, which robot type or individual robot should be used for this or the like.

The simple example above already shows the advantages of determining target positions for operating the robot arrangement or programming a process accordingly. On the one hand, the process can be specified independently of the kinematics(s) using geometric primitives and geometric constraints for these, and on the other hand, the target positions can be determined on the basis of a specification of such a primitive or a primitive linked to it in a predetermined manner as a controllable primitive and its connection to the movement axes of the corresponding kinematics. For example, if a different kinematics is used, for example with a different configuration, for example different axis distances or the like, or a modification such that a robot guides a tool instead of a workpiece or a workpiece instead of a tool, the same welding path can be implemented or the corresponding process can simply be (re)programmed.

One or more of the geometric primitives mentioned here or used according to the invention is/are in one embodiment (each) a point or a line or a straight line or a plane or a two- or three-dimensional coordinate system or a half-line or a segment or a rectangle or a circle or an ellipse or a sphere or a cylinder or a cone or a pyramid or a cuboid or the like, wherein preferably one or more of the geometric primitives mentioned here or used according to the invention is/are a geometric primitive in Cartesian space and/or two or more of the geometric primitives mentioned here or used according to the invention are similar or of the same type, purely by way of example both are lines, and/or two or more of the geometric primitives mentioned here or used according to the invention are dissimilar or not of the same type, again purely by way of example one primitive is a cylinder, another primitive is a plane and another primitive is a line, for example a line of contact between the cylinder and the plane.

One or more of the predetermined geometric constraints and/or links mentioned here or used according to the invention comprise/-, preferably is/are, in one embodiment (each) a parallelism or a mutually perpendicular position or a (predetermined, in particular minimum, maximum or average) distance or a (predetermined, in particular minimum, maximum or average) angle or an intersection or a tangent or non-intersecting touching or a concentricity or a position in a half-space, preferably defined by a plane, in particular on a given side of this plane, or a, preferably fixed or unchangeable, pose and/or permitted deviation from this or a, preferably fixed or unchangeable, transformation and/or permitted deviation from this or an inclusion in or exclusion from a primitive or the like. As is particularly clear from this, in a preferred embodiment a connection can be a geometric constraint or be specified by a geometric constraint. A particularly advantageous geometric constraint or connection is a (spatial) coincidence or a matching position and/or orientation. This is to be distinguished from the term "identity" or "identical" used here: if we speak here of an identity of geometric primitives or of geometric primitives being identical, we are talking about the same or a single geometric primitive. For example, the first geometric constraint can be or become specified for the geometric primitive specified as a controllable primitive. On the other hand, for example, a geometric primitive can be or become specified as a controllable primitive (for example the tool center point of a robot or a kinematics), the first geometric constraint can be or become specified for another geometric primitive (for example a point on a process path), and these two geometric primitives can be or become linked via the geometric constraint that they (should) coincide in such a way that they have the same position.

In one embodiment, one or more of the geometric primitives, geometric constraints and/or links mentioned here or used according to the invention are, preferably, selected and optionally parameterized from groups, preferably by specifying or programming or on the basis of a programming input, which each have two or more (different or different) of the above-mentioned elements, preferably making these available or providing them (for selection or parameterization).

Such geometric primitives, geometric constraints and connections are particularly suitable for the description or programming of robot processes; through their use and preferably provision or selection, robot processes can be described or programmed particularly easily, precisely, quickly and/or reliably.

• - Vorgabe einer geometrischen Form einer Schweißbahn sowie einer translatorischen Geschwindigkeit bzw. eines Geschwindigkeitsprofils längs der Schweißbahn als Prozessbahn eines Primitivs in Form eines Punkts; und
• - Vorgabe eines Zusammenfallens dieses Primitivs bzw. Punkts mit einem geometrischen Primitiv in Form eines TCPs, das als steuerbares Primitiv an eine Kinematik angebunden ist, als erste geometrische Zwangsbedingung

die gewünschte Schweißbahn sehr einfach, rasch und zuverlässig programmiert und gegebenenfalls für eine andere Kinematik oder ein Führen des Werkstücks statt des Werkzeugs durch den Roboter (um)programmiert werden.In one embodiment, the target positions are determined on the basis of at least one process path of a geometric primitive that is linked to or identical to the (as) controllable (specified) primitive and/or the primitive for which the first geometric constraint is specified. In one embodiment, the geometric shape and/or a translatory and/or rotary speed and/or a translatory and/or rotary acceleration, for example a corresponding speed or acceleration profile, of the process path is, preferably, specified, preferably by programming or based on a user input or specification. Thus, again using the simple example already explained, by

• - Specification of a geometric shape of a welding path as well as a translational speed or a speed profile along the welding path as a process path of a primitive in the form of a point; and
• - Specifying a coincidence of this primitive or point with a geometric primitive in the form of a TCP, which is connected to a kinematics as a controllable primitive, as the first geometric constraint

The desired welding path can be programmed very easily, quickly and reliably and, if necessary, (re)programmed for a different kinematics or for the workpiece to be guided by the robot instead of the tool.

In one embodiment, the target position or target positions are determined on the basis of at least one predetermined stop condition. This can include, in particular, reaching an end of the process path or exceeding a predetermined limit, in particular time limits, relations between geometric primitives, receiving input signals, outputting output signals or the like.

This allows robot processes to be programmed particularly easily, precisely, quickly and/or reliably, and robot arrangements to be operated particularly easily, precisely, quickly and/or reliably.

As already explained, the division into a mapping of the process by geometric constraints for geometric primitives and an implementation by appropriate connection (as) controllable (given) primitives to kinematics and the merging of these two aspects by making controllable primitives identical or similar to primitives for which geometric constraints are or will be given offers offer great advantages both in programming robot processes and in operating robot arrangements or determining target positions of movement axes of the corresponding robot arrangement, particularly with regard to simplicity, reliability and/or speed.

• - wenigstens einer zweiten geometrischen Zwangsbedingung, welche für wenigstens ein vorgegebenes geometrisches Primitiv vorgegeben ist; und
• - einer Identität oder vorgegebenen Verknüpfung dieses Primitivs mit dem steuerbaren Primitiv und/oder dem Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist,

ermittelt. Insbesondere kann also für das Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist, wenigstens eine zweite geometrische Zwangsbedingung vorgegeben sein bzw. werden, beispielsweise zusätzlich zu einem vorgegebenen Abstand ein Aufeinander-Senkrechtstehen oder dergleichen. Zusätzlich oder alternativ kann entsprechend für das bzw. ein (als) steuerbar (vorgegeben)es Primitiv wenigstens eine zweite geometrische Zwangsbedingung vorgegeben sein bzw. werden. Auf diese Weise kann in einer Ausführung ein Programmieren von Roboterprozessen, ein Betreiben von Roboteranordnungen und/oder ein Ermitteln von Soll-Stellungen von Bewegungsachsen einer entsprechenden Roboteranordnung hierzu weiter verbessert werden, insbesondere in Hinblick auf Einfachheit, Zuverlässigkeit und/oder Geschwindigkeit.Accordingly, the target position or positions will be determined in a further training based on

• - at least one second geometric constraint which is specified for at least one given geometric primitive; and
• - an identity or predetermined connection of this primitive with the controllable primitive and/or the primitive for which the first geometric constraint is given,

determined. In particular, at least one second geometric constraint can be or will be specified for the primitive for which the first geometric constraint is specified, for example, in addition to a specified distance, a perpendicular position or the like. Additionally or alternatively, at least one second geometric constraint can be or will be specified for the or a (predetermined as) controllable primitive. In this way, in one embodiment, programming of robot processes, operation of robot arrangements and/or determination of target positions of movement axes of a corresponding robot arrangement can be further improved for this purpose, in particular with regard to simplicity, reliability and/or speed.

In one embodiment, in a further development, the connection of the (predetermined as) controllable primitive to the motion axes of the kinematics is determined on the basis of a predefined and/or recursive chaining of this controllable primitive with the robot arrangement.

In a further development, the connection of the controllable primitive to the motion axes of the kinematics is or will be determined on the basis of a search, in one embodiment recursive, and/or a predefined selection condition for motion axes.

• - dem steuerbaren Primitiv nächste oder entfernteste Bewegungsachsen, insbesondere also dass die Bewegungsachsen, an die das (als) steuerbar (vorgegeben)e Primitiv angebunden ist, diesem Primitiv (kinematisch bzw. strukturell) nächste Bewegungsachsen der Kinematik oder (von) diesem Primitiv (kinematisch bzw. strukturell) entfernteste Bewegungsachsen der Kinematik sind, in einer bevorzugten Weiterbildung, dass sie die Bewegungsachsen der diesem Primitiv (kinematisch bzw. strukturell) nächsten von mehreren Kinematiken der Roboteranordnung oder die Bewegungsachsen der (von) diesem Primitiv (kinematisch bzw. strukturell) entfernteste von mehreren Kinematiken der Roboteranordnung aufweisen, vorzugsweise sind; und/oder
• - eine Spezifikation eines Bewegungsachsentyps, insbesondere eines Kinematiktyps, oder einer Bewegungsachsenidentifikation, insbesondere einer Kinematikidentifikation.

In one embodiment, the selection condition includes

• - the movement axes closest to or furthest from the controllable primitive, in particular that the movement axes to which the (predetermined as) controllable primitive is connected are the movement axes of the kinematics closest to this primitive (kinematically or structurally) or the movement axes of the kinematics furthest from this primitive (kinematically or structurally), in a preferred development that they have the movement axes of the kinematics closest to this primitive (kinematically or structurally) of several kinematics of the robot arrangement or the movement axes of the kinematics furthest from this primitive (kinematically or structurally); and/or
• - a specification of a motion axis type, in particular a kinematics type, or a motion axis identification, in particular a kinematics identification.

In a particularly preferred embodiment, the search, starting from the (predetermined) controllable primitive, checks for each parent object to which a child object is attached whether this parent object is a kinematic or has axes of motion that fulfill(s) the predetermined selection condition. The parent (object)-child (object) relationship(s) between (predetermined)
controllable (predeterminable) primitives and kinematics or axes of motion is/are specified in an embodiment, for example by corresponding, stored (structural) descriptions of the robot arrangement or the like. A chain of a (predetermined as) controllable geometric primitive with the robot arrangement can in particular have one or more parent (object)-child (object) relationships, wherein preferably a (predetermined as) controllable geometric primitive connected to the movement axes of a kinematics is a child (object) of a (first) parent (object)-child (object) relationship and the (movement axes of the) kinematics is a parent (object) of this or a (further) parent (object)-child (object) relationship, wherein in between one or more further parent (object)-child (object) relationships can be provided analogously, in each of which a parent (object) of a parent (object)-child (object) relationship is a child (object) of another parent (object)-child (object) relationship.

In this way, in one embodiment, programming of robot processes, operation of robot arrangements and/or determination of target positions of motion axes of a corresponding robot arrangement can be further improved, in particular with regard to simplicity, reliability and/or speed.

In one embodiment, in a further development, at least one of the geometric primitives linked to the robot arrangement is not specified as movable by the kinematics. In one embodiment, all geometric primitives linked to the robot arrangement are initially or by default specified as controllable, with one or more of these primitives then being specified as not movable by the kinematics or as not controllable by programming or due to a program input. Conversely, one or more of the primitives linked to the robot arrangement can also be specified as controllable by programming or due to a program input. The linking of primitives and the (kinematics of the) robot arrangement is specified in one embodiment, for example by corresponding, stored (structural) descriptions of the robot arrangement or the like, and can in particular include the above-mentioned parent (object)-child (object) relationship(s).

In this way, in one embodiment, programming of robot processes, operation of robot arrangements and/or determination of target positions of movement axes of a corresponding robot arrangement can be further improved, in particular with regard to simplicity, reliability and/or speed. In general, a programming input mentioned here can include or be an input or specification by a user or programmer.

• - zum Ermitteln von Soll-Stellungen von Bewegungsachsen der Roboteranordnung, insbesondere zum Betreiben der Roboteranordnung; und/oder
• - zum Programmieren eines Prozesses zum Betreiben der Roboteranordnung,

hard- und/oder software-, insbesondere programmtechnisch, zur Durchführung eines hier beschriebenen Verfahrens eingerichtet ist.According to one embodiment of the present invention, a system

• - for determining target positions of movement axes of the robot arrangement, in particular for operating the robot arrangement; and/or
• - for programming a process for operating the robot arrangement,

hardware and/or software, in particular programming, to carry out a method described here.

• - Mittel zum Ermitteln einer oder mehrerer Soll-Stellungen der Bewegungsachsen der Kinematik auf Basis
• - einer Anbindung wenigstens eines als steuerbares Primitiv vorgegebenen geometrischen Primitivs an die Bewegungsachsen der Kinematik;
• - einer ersten geometrischen Zwangsbedingung, welche für wenigstens ein vorgegebenes geometrisches Primitiv vorgegeben ist; und
• - einer Identität oder vorgegebenen Verknüpfung dieses Primitivs, für das die erste geometrische Zwangsbedingung vorgegeben ist, mit dem steuerbaren Primitiv;

sowie gegebenenfalls

• - Mittel zum Betreiben der Roboteranordnung auf Basis der ermittelten Soll-Stellung bzw. Soll-Stellungen.

According to an embodiment of the present invention, a system for determining target positions of movement axes of the robot arrangement, in particular for operating the robot arrangement, comprises:

• - Means for determining one or more target positions of the motion axes of the kinematics based on
• - a connection of at least one geometric primitive specified as a controllable primitive to the motion axes of the kinematics;
• - a first geometric constraint which is specified for at least one given geometric primitive; and
• - an identity or predetermined connection of this primitive, for which the first geometric constraint is given, with the controllable primitive;

and, if applicable,

• - Means for operating the robot arrangement on the basis of the determined target position or positions.

• - Mittel zum Vorgeben wenigstens eines geometrischen Primitivs als steuerbares Primitiv; und
• - Mittel zum Vorgeben der ersten geometrischen Zwangsbedingung.

According to an embodiment of the present invention, a system for programming a process for operating the robot arrangement comprises:

• - means for specifying at least one geometric primitive as a controllable primitive; and
• - Means for specifying the first geometric constraint.

• - Mittel zum Ermitteln der Soll-Stellungen auf Basis wenigstens einer Prozessbahn eines Primitivs, welches mit dem steuerbaren Primitiv und/oder dem Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist, verknüpft oder identisch ist; und/oder
• - Mittel zum Ermitteln der Soll-Stellung bzw. Soll-Stellungen auf Basis wenigstens einer vorgegebenen Stopp-Bedingung; und/oder
• - Mittel zum Ermitteln der Soll-Stellung bzw. Soll-Stellungen auf Basis
  • - wenigstens einer zweiten geometrischen Zwangsbedingung, welche für wenigstens ein vorgegebenes geometrisches Primitiv vorgegeben ist; und
  • - einer Identität oder vorgegebenen Verknüpfung dieses Primitivs mit dem steuerbaren Primitiv und/oder dem Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist; und/oder
• - Mittel zum Ermitteln der Anbindung des steuerbaren Primitivs an die Bewegungsachsen der Kinematik auf Basis einer vorgegebenen und/oder rekursiven Verkettung des steuerbaren Primitivs mit der Roboteranordnung, insbesondere auf Basis einer, insbesondere rekursiven, Suche und/oder einer vorgegebenen Auswahlbedingung für Bewegungsachsen, welche vorzugsweise umfasst:
  • - dem steuerbaren Primitiv nächste oder entfernteste Bewegungsachsen; und/oder
  • - eine Spezifikation eines Bewegungsachsentyps oder einer Bewegungsachsenidentifikation; und/oder.
• - Mittel zum Vorgeben wenigstens eines der mit der Roboteranordnung verketteten geometrischen Primitivs als nicht durch die Kinematik beweglich.

In one embodiment, the system or its means comprises:

• - means for determining the target positions on the basis of at least one process path of a primitive which is linked to or identical with the controllable primitive and/or the primitive for which the first geometric constraint is specified; and/or
• - means for determining the target position or target positions on the basis of at least one predetermined stop condition; and/or
• - Means for determining the target position or positions based on
  • - at least one second geometric constraint which is specified for at least one given geometric primitive; and
  • - an identity or predetermined connection of this primitive with the controllable primitive and/or the primitive for which the first geometric constraint is specified; and/or
• - Means for determining the connection of the controllable primitive to the movement axes of the kinematics on the basis of a predetermined and/or recursive linking of the controllable primitive with the robot arrangement, in particular on the basis of a, in particular recursive, search and/or a predetermined selection condition for movement axes, which preferably comprises:
  • - closest or most distant axes of movement to the controllable primitive; and/or
  • - a specification of a motion axis type or a motion axis identification; and/or.
• - Means for specifying at least one of the geometric primitives linked to the robot arrangement as not movable by the kinematics.

• - ein Vorgeben der wenigstens einen Prozessbahn eines Primitivs sowie dessen Identität oder Verknüpfung mit dem steuerbaren Primitiv und/oder dem Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist; und/oder
• - ein Vorgeben der wenigstens einen Stopp-Bedingung; und/oder
• - ein Vorgeben der wenigstens einen zweiten geometrischen Zwangsbedingung für wenigstens ein geometrisches Primitiv sowie die Vorgabe dieses Primitivs, insbesondere seiner Identität oder Verknüpfung mit dem steuerbaren Primitiv und/oder dem Primitiv, für das die erste geometrische Zwangsbedingung vorgegeben ist; und/oder
• - ein Vorgeben der Verkettung des steuerbaren Primitivs mit der Roboteranordnung, insbesondere der Auswahlbedingung für Bewegungsachsen.

Accordingly, in one embodiment, the method for programming a process for operating a robot assembly comprises

• - specifying at least one process path of a primitive and its identity or connection with the controllable primitive and/or the primitive for which the first geometric constraint is specified; and/or
• - specifying at least one stop condition; and/or
• - specifying the at least one second geometric constraint for at least one geometric primitive and specifying this primitive, in particular its identity or connection with the controllable primitive and/or the primitive for which the first geometric constraint is specified; and/or
• - specifying the linking of the controllable primitive with the robot arrangement, in particular the selection condition for motion axes.

In one embodiment, the first geometric constraint is or is specified for two or more predetermined geometric primitives, wherein one of these at least two primitives for which the first geometric constraint is specified is identical to the at least one geometric primitive specified as a controllable primitive or is or is linked (by or by means of the (corresponding) predetermined link) and in a further development at least one other of these at least two primitives for which the first geometric constraint is specified is identical to another of the (respectively) predetermined geometric primitives as a controllable primitive.

Additionally or alternatively, in one embodiment, the or at least one of the second geometric constraint(s) is or is specified for two or more predetermined geometric primitives, wherein one of these at least two primitives for which this second geometric constraint(s) is specified is or is identical to the at least one geometric primitive specified as a controllable primitive and/or the or at least one of the primitives for which the first geometric constraint(s) is specified, or is or is linked (by or by means of the (corresponding) predetermined link). In a further development, at least one other of these at least two primitives for which this second geometric constraint(s) is specified is or is identical to another of the geometric primitives specified (in each case) as a controllable primitive.

In one embodiment, at least two geometric primitives (each) are specified as a controllable primitive and, in a further development, are used in the first and/or the or one of the second geometric constraint(s), or the first and/or the or one of the second geometric constraint(s) are specified for these at least two geometric primitives (each) specified as a controllable primitive.

A system and/or means in the sense of the present invention can be designed in terms of hardware and/or software, in particular at least one, preferably data- or signal-connected, particularly digital, processing unit, particularly microprocessor unit (CPU), graphics card (GPU) or the like, and/or one or more programs or program modules, particularly programming environment(s). The processing unit can be designed to process commands that are implemented as a program stored in a storage system, to detect input signals from a data bus and/or to output output signals to a data bus. A storage system can have one or more, particularly different, storage media, particularly optical, magnetic, solid-state and/or other non-volatile media. The program can be designed in such a way that it embodies or is capable of carrying out the methods described here, so that the processing unit can carry out the steps of such methods and thus in particular determine the target position(s) of movement axes or operate the robot arrangement. A system, means or program can in particular comprise, in particular be, a programming environment for programming a process for operating a robot arrangement according to a method described here. A computer program product can in one embodiment have a, in particular computer-readable and/or non-volatile, storage medium for storing a program or instructions or with a program or instructions stored thereon, into which special. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of several computers, causes the system or the controller, in particular the computer(s), to carry out a method described here or one or more of its steps, or the program or the instructions are set up for this purpose.

In one embodiment, one or more, in particular all, steps of a method described here are fully or partially computer-implemented or one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system or its means. A determination mentioned here can in particular include, in particular be, a calculation using at least one computer.

In one embodiment, the system comprises the robot arrangement.

In one embodiment, one or more target positions are determined in advance or offline and the robot arrangement is then operated on the basis of these determined target positions. Likewise, one or more target positions can also be determined during operation of the robot arrangement or online and the robot arrangement can continue to be operated on the basis of these determined target positions.

As is clear from the present description, in one embodiment the positions of the axes of motion of the kinematics are determined on the basis of the connection of at least one geometric primitive specified as a controllable primitive to the axes of motion of the kinematics, the first geometric constraint, which is specified for at least one specified geometric primitive, and the identity or specified connection of this primitive, for which the first geometric constraint is specified, with the controllable primitive in such a way that the first geometric constraint is fulfilled in the target position(s), preferably by a so-called "constraint solver" or the like and/or in such a way that the second geometric constraint(s) is/are also fulfilled in the target position(s) and/or that the primitive(s) for which a process path is specified (respectively) travels along this path by approaching the target positions and/or in such a way that that the primitive(s) (predetermined as) controllable are moved by the movement axes to which it(they) is/are connected and/or that the target positions are changed until at least one of the predefined stop conditions is fulfilled.

In one embodiment, a method for determining target positions of movement axes of a robot arrangement also includes a method described here for programming a process for operating the robot arrangement. In one embodiment, a method for operating a robot arrangement also includes a method described here for programming a process for operating the robot arrangement.

• 1: ein System zum Betreiben einer Roboteranordnung nach einer Ausführung der vorliegenden Erfindung, und
• 2: ein Verfahren zum Betreiben der Roboteranordnung nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the embodiments. This shows, partly schematically:

• 1 : a system for operating a robot arrangement according to an embodiment of the present invention, and
• 2 : a method for operating the robot assembly according to an embodiment of the present invention.

1 , 2 show a system or method for operating a robot assembly according to an embodiment of the present invention.

The robot arrangement has, by way of example, kinematics in the form of a robot arm 1 of the Agilus type with movement axes A1, ..., A6 and a computer 2 for programming a process and for controlling the real robot arm 1 or simulating movements of the virtual robot arm 1. Of course, the program can also be created with one or more computers and the robot arm can be controlled or its movements simulated by one or more other computers on the basis of the created program.

The invention is explained using an example process in which the point “TCP” of the tool “Tool” is to move along a line, whereby only the translation of the movement is decisive. The tool “Tool” is attached to the robot “Agilus”, which contains the point “TCP”.

In a step S10 (cf. 2 ), a programmer specifies the above-mentioned concatenation of the geometric primitive “TCP” with the robot arrangement “Agilus” by means of appropriate programming inputs (“TCP” = child of “Tool”, “Tool” child of “Agilus”).

• Position[0] := -0,6 + Time * 0,2
• Position[1] := 1,2
• Position[2] := 1,2
• P1 := CreatePoint(„P1"; Position);

In a step S20, the programmer specifies a process path through appropriate programming inputs, for example in the form

• Position[0] := -0.6 + Time * 0.2
• Position[1] := 1,2
• Position[2] := 1,2
• P1 := CreatePoint(“P1”; Position);

• Coincident(P1, Tool.TCP)

die ein Zusammenfallen (der (räumlichen) Positionen) des geometrischen Primitivs „P1“, für das die Prozessbahn vorgegeben wurde, mit dem geometrischen Primitiv „TCP“ beschreibt.In a step S30, the programmer specifies a first geometric constraint by means of appropriate programming inputs, for example in the form

• Coincident(P1, Tool.TCP)

which describes a coincidence (of the (spatial) positions) of the geometric primitive “P1”, for which the process path was specified, with the geometric primitive “TCP”.

• Position[0] > -0,1

In a step S40, the programmer specifies a stop condition by means of appropriate programming inputs, for example by entering in a corresponding field of a programming environment (for entering stop conditions)

• Position[0] > -0.1

• Tool.TCP

In a step S50, the programmer specifies the geometric primitive “TCP” as a controllable primitive by means of appropriate programming inputs, for example by entering in a corresponding field of the programming environment (for entering controllable primitives)

• Tool.TCP

In the exemplary process description explained above, in order to realize the movement of the point "TCP", a process path is first described using a movable point "P1" (= primitive), which moves along a distance over time ("Time") by changing the values in "Position[0]". The two geometric primitives or points are then linked with the geometric constraint "Coincident" so that their positions always match or coincide during the process. The stop condition for ending the process description is triggered as soon as the movable point has reached the defined end of the distance. In addition, the point "TCP" is specified or marked as a controllable primitive so that it can change its pose using kinematics.

The robot movement or target positions for the example process described above are determined as follows. Firstly, since "next kinematics" is specified as the search mode or selection condition by default or through corresponding programming inputs, the next kinematics from the controllable primitive "TCP" is searched for in a step S60. To do this, it is first checked whether the parent object "Tool" of the child object "TCP" is (already) a kinematics. Since this is not the case, the next step is to check whether the parent object "Agilus" of the child object "Tool" is a kinematics. Since this is the case, the kinematics "Agilus" is used to move the (specified as) controllable primitive "TCP" or to determine the target positions of its movement axes.

In a step S70, the axis values or target positions of the movement axes A1, ..., A6 are now determined cyclically by Agilus. To do this, the position of the moving point P1 is calculated and then the axis values are calculated by Agilus so that the geometric constraint "coincident" is fulfilled, i.e. the position of the geometric primitive "TCP" is equal to the position of the geometric primitive "P1", for example with a so-called "constraint solver" or the like. The axis values calculated in this way are then added to the movement list of Agilus. The stop condition is checked and the cyclic calculation is aborted if the x-value of the point "P1" is greater than -0.1.

The motion list generated in this way can be executed in a step S80 by controlling the real robot or simulating the movement of the virtual robot.

Steps S10-S50 illustrate a method for programming the process for operating the robot arrangement according to an embodiment of the present invention, steps S60, S70 or step S70 illustrate a method for determining target positions of the movement axes of the kinematics 1 of the robot arrangement according to an embodiment of the present invention, and steps S60-S80 or S70, S80 illustrate a method for operating the robot arrangement according to an embodiment of the present invention.

In another example of a process "spraying a workpiece", for example, a rotation axis of a spray head can always intersect a point on a workpiece surface and an exit point on the spray head on the rotation axis can always have a defined distance from this intersection point, for example between 5 and 10 cm. Using process paths, it is possible to change geometric primitives over time, which makes it possible to implement processes in which geometric constraints must be adhered to over a longer period of time. In the example mentioned, the point on the workpiece surface would be continuously changed by the process path. The stop condition in the spray example could be (reaching) the end of the process path. Using the controllable primitives, it can be defined which primitives tive can move through kinematics, which is taken into account when calculating the robot movements. At the same time, the resolution of the kinematics is defined in the controllable primitives, for example by selecting the next kinematics that is connected to the primitive. This makes it possible for the description of processes to become independent of kinematics. In the spray example, it could be defined that not the spray head but the point on the workpiece that is gripped by a robot should move. This means that the spray head always stays in the same place, even if it is connected to a kinematics.

In the present disclosure, "has an X" generally does not imply an exhaustive list, but is a shortened form of "has at least one X" and also includes "has two or more Xs" and "has Y in addition to X." Although exemplary embodiments have been explained in the foregoing description, it should be noted that a variety of variations are possible.

In particular, instead of first calculating the complete robot movement or a corresponding movement list, the axis values for the robots can be calculated in each cycle and sent directly to the robots, thereby advantageously reacting directly to signals from sensors.

Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications and structure in any way.

list of reference symbols

1

Agilus robot arm (kinematics)

2

computer

A1, ..., A6

axes of movement

Claims (12)

Method for determining target positions of movement axes of a robot arrangement which has at least one kinematics (1) with several movement axes (A1-A6), the method comprising: - determining (S70) one or more target positions of the movement axes of the kinematics on the basis of - a connection of at least one geometric primitive specified as a controllable primitive to the movement axes of the kinematics; - a first geometric constraint which is specified for at least one specified geometric primitive; and - an identity or specified link of this primitive, for which the first geometric constraint is specified, with the controllable primitive; wherein the target positions are determined on the basis of at least one process path of a geometric primitive which is linked to or identical with the controllable primitive and/or the primitive for which the first geometric constraint is specified; and wherein the target position or positions is or are determined on the basis of at least one predetermined stop condition. procedure according to claim 1 , characterized in that the target position or target positions are determined on the basis of - at least one second geometric constraint which is specified for at least one predetermined geometric primitive; and - an identity or predetermined connection of this primitive with the controllable primitive and/or the primitive for which the first geometric constraint is specified. Method according to one of the preceding claims, characterized in that the connection of the controllable primitive to the movement axes of the kinematics is determined on the basis of a predetermined and/or recursive chaining of the controllable primitive with the robot arrangement. Method according to the preceding claim, characterized in that the connection of the controllable primitive to the motion axes of the kinematics is determined on the basis of a search and/or a predetermined selection condition for motion axes. Method according to the preceding claim, characterized in that the connection of the controllable primitive to the movement axes of the kinematics is determined on the basis of a recursive search. procedure according to claim 4 or 5 , characterized in that the selection condition comprises - the closest or most distant motion axes to the controllable primitive; and/or - a specification of a motion axis type or a motion axis identification. Method according to one of the preceding claims, characterized in that at least one of the robot arrangement linked geometric primitives cannot be specified as movable by the kinematics. Method for operating a robot arrangement which has at least one kinematics with several axes of movement, the method comprising the steps of: - determining one or more target positions of the axes of movement of the kinematics according to a method according to one of the preceding claims; and - operating the robot arrangement on the basis of the determined target position or target positions. Method for programming a process for operating, according to the preceding claim, a robot arrangement, the method comprising the steps of: - specifying at least one geometric primitive as a controllable primitive; and - specifying the first geometric constraint;. System for determining target positions of movement axes of a robot arrangement which has at least one kinematics with several movement axes, wherein the system is designed to carry out a method according to one of the preceding Claims 1 - 7 is set up. system according to claim 10 , characterized in that it is designed to operate according to claim 8 and/or for programming according to claim 9 is set up. Computer program or computer program product, the computer program or computer program product containing instructions which, when executed by one or more computers or a system, claim 10 or 11 cause the computer or systems to perform a process according to any of the Claims 1 until 9 to carry out.

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