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WO2018206387A1 - Réglage de robot - Google Patents

Réglage de robot Download PDF

Info

Publication number
WO2018206387A1
WO2018206387A1 PCT/EP2018/061315 EP2018061315W WO2018206387A1 WO 2018206387 A1 WO2018206387 A1 WO 2018206387A1 EP 2018061315 W EP2018061315 W EP 2018061315W WO 2018206387 A1 WO2018206387 A1 WO 2018206387A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
fixed reference
positions
predetermined
detection means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/061315
Other languages
German (de)
English (en)
Inventor
Manfred Hüttenhofer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Priority to CN201880045635.XA priority Critical patent/CN110891742A/zh
Publication of WO2018206387A1 publication Critical patent/WO2018206387A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39024—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39032—Touch probe senses constraint known plane, derive kinematic calibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39044—Estimate error model from error at different attitudes and points
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40596—Encoder in each joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50042—Return to origin, reference point, zero point, homing

Definitions

  • the present invention relates to a method for adjusting, controlling and / or monitoring a robot and a controller and a
  • Robot arrangement with the controller Robot arrangement with the controller.
  • incremental or relative encoders of a robot for detecting its joint positions can be adjusted by moving the robot into a defined adjustment pose, in which these detection means are initialized with values predetermined for this pose.
  • the accuracy of the subsequently determined joint positions and thus in particular the accuracy of a position, determined in particular for controlling and / or monitoring the robot, based on these joint positions of a robot-fixed reference, such as the TCP, depends on this adjustment.
  • An object of an embodiment of the present invention is to improve an adjustment, control and / or monitoring of a robot, in particular to reduce a measuring expenditure on equipment for the adjustment and / or to increase speed and / or precision of adjustment, control and / or monitoring , This object is achieved by a method having the features of claim 1.
  • Claims 13-15 provide (robot) control
  • the robot has a
  • Robot arrangement at least or exactly three, four, six or seven, joints or (motion) axes, in particular rotary or rotary joints or axes and / or translational or linear joints or axes, and / or, in particular electromotive, drives for moving or adjusting the joints or axes.
  • the robot is a redundant and / or delta robot. In such robots, the present invention can be used with particular advantage.
  • a position, in particular a robot-fixed reference, within the meaning of the present invention can in one embodiment (only or also) a one, two or
  • a robot-fixed reference (relative to a reference or coordinate system), in particular be, for example, three location coordinates (P x , P y , P z ) and / or have three orientation angles, in particular be determined thereby.
  • One, in particular predetermined, path of a robot-fixed reference comprises in one embodiment a (Ab) sequence of such positions, it may be defined or formed in particular by this.
  • a (predetermined) path g may be an (ab) sequence of Cartesian locations of a robot-fixed reference point and / or an (ab) sequence of three-dimensional Orientations of a robot-fixed reference coordinate system, in particular in the case of stationary coordinate system origin, ie a mere reorientation in the case of fixed TCP, include, in particular.
  • the predetermined path is a straight line in the working space of the robot, which travels with a robot-fixed point
  • this path is characterized in particular by three coordinates (P x , P y , P z ) of a path point and two polar angles (a, ⁇ ).
  • a given circular path is defined, for example, by three coordinates of a center point as well as a normalized vector normalized to length 1 and the radius or a normal vector having the length of the radius, a mere Reorientation for example by appropriate Euler or gimbal angle or the like.
  • Detection means, in particular by means of a
  • the adjustment can be improved, in particular an apparatus-related measurement effort for the adjustment can be reduced and / or its speed and / or precision can be increased, thus improving control and / or monitoring of the adjusted robot in a further development.
  • the predetermined path is force, in particular yielding (keits) regulated and / or hand-held, in particular with a predetermined contact force and / or by manually guiding or actuating the robot-fixed reference on and / or departing.
  • the adjustment can be further improved, in particular an expense for the adjustment (further) reduced and / or its speed and / or precision (further) increased and thus in a development, a control and / or monitoring of the adjusted robot (further) be improved.
  • the predetermined path with constant orientation of the robot-fixed reference in particular in a Cartesian working space of the robot or a limb, in particular a base, of the robot against which the robot-fixed reference by moving the axes to be adjusted of the robot is movable, traversed, for example by actuation of corresponding axes of a delta robot or the like.
  • a (tool) flange of the robot to which the reference may be attached this or a congruent and / or offset parallel path from, so that advantageously a position of the robot-fixed reference relative to the flange can be disregarded ,
  • the predetermined path with constant orientation of the robot-fixed reference in particular in a Cartesian working space of the robot or a limb, in particular a base, of the robot against which the robot-fixed reference by moving the axes to be adjusted of the robot is movable, traversed, for example by actuation of corresponding axes of a delta robot or the like.
  • predetermined path with varying orientation of the robot-fixed reference in particular in a Cartesian working space of the robot or relating to a member, in particular a base of the robot, against which the robot-fixed reference by adjusting the axes to be adjusted of the robot is movable, abfahren, in particular a stationary TCP only reoriented, whereby a particularly compact path can be realized.
  • the web is or is by a guide, in particular a forced operation, for the robot-fixed reference, in particular form or
  • contact-locking and / or non-positive, in particular magnetic, predetermined which have metal in a further development, in particular may consist thereof.
  • the guide is in a development temporarily or stationary stationary to a member, in particular a base of the robot arranged against which the robot-fixed reference is movable by adjusting the axes to be adjusted of the robot or is moved, in particular non-destructive detachably or permanently or non-destructively detachable relative to the member, in particular at this or spaced therefrom, fixed or fixed.
  • Speed and / or precision can be increased.
  • the precision can be increased in one embodiment, reduced by a temporary attachment a restriction of the working space of the robot after the adjustment, in particular be avoided. Accordingly, in one embodiment, the guide is removed again after adjustment.
  • the guide locks, in particular positive and / or non-positive, in particular by contact or contact and / or magnetic, at least one and / or at most two translational or spatial degrees of freedom and / or no rotational or orientation degree of freedom of the robot-fixed reference one or two-sided or puts only their Cartesian place with a
  • the web may be a straight line in the
  • the trajectory of the trajectory and / or the solution of the (over) certain equation system or optimization problem (further) can be improved.
  • the web is in one embodiment by a profile, in particular one, in particular rectangular, angle profile or two against each other, in particular at right angles, beveled surfaces, in particular form or
  • the departure of the web can be improved.
  • the robot for adjusting, in particular for an initial or pre-adjustment and / or for traversing the predetermined path, in one
  • Training in particular for the initial or pre-adjustment, by a, in particular multi-part, robot-proof marking, for example, mutually associated brands of mutually movable robot members, may be specified.
  • the adjustment in particular their
  • the detection means is based on this predetermined
  • the guide is only after starting the predetermined
  • the robot-fixed reference is stationary or permanent or non-destructive releasably or (only) temporarily or non-destructively releasably attached to a, preferably end or distal, member of the robot.
  • the robot-fixed reference may comprise metal, in particular consist thereof, and / or have a completely or partially spherical outer contour, in particular for contact with the (positive) guide.
  • Tool flange in one embodiment can be adjusted all the axes of the robot that move this member.
  • the precision (further) can be increased in one embodiment, reduced by a temporary attachment restriction of the robot after the adjustment, in particular be avoided.
  • the reference is removed again after adjustment.
  • the adjustment can be further improved in one embodiment, in particular their speed and / or precision (further) can be increased.
  • an at least partially spherical (outer) contour of the reference can compensate orientation changes around its center, so that in one embodiment it can determine the position of the reference.
  • the adjustment can be further improved, in particular its speed and / or precision (further) can be increased.
  • only certain axes of the robot and / or axes of the robot can be adjusted sequentially.
  • the, in particular multi-part, detection means detects the Achsoutheastern. Joint positions of one or more, preferably all, axes or joints of the robot, in particular incremental or absolute, or is set up for this purpose.
  • the detection means may include one or more relative,
  • each determined joint position q ; d equations, where d denotes the dimension of a position given by the orbit, in cartesian locations, for example, three equations (d 3).
  • N denotes the number of joint positions determined
  • D the dimension or number of parameters p for (geometrically) defining the predetermined path
  • k the number of axes (or joints) of the robot to be adjusted or the dimension of a determined joint position and thus of the to determined offsets
  • Q, the (d + k + n-1) unknown p, Q and ⁇ ⁇ 2, 3,
  • the number n of the determined joint positions is equal to or, preferably, greater than (D + k-1) / (d-1) with the minimum
  • Parameter number D for geometrically defining the predetermined path, the number k of the joints of the robot to be adjusted and the dimension d of a position of the robot-fixed reference predetermined by the path, preferably at least twice as large (n> 2 (D + k-1) / ( d - 1)), preferably at least three times as large (n> 3 (D + k-1) / (d-1)). Additionally or alternatively, in one
  • Execution number n of the determined joint positions at least 10, in particular at least 15, in particular at least 30.
  • the adjustment, in particular their convergence and thus their speed and / or precision, (further) can be improved.
  • a starting value of the optimization method is determined on the basis of the predefined starting position.
  • the robot is adjusted, in particular determines the offset of the detection means in a manner described here, in one embodiment by means of
  • Detection means are determined based on or taking into account the determined offset Solloder actual joint positions of the robot and / or setpoint or actual positions of the or another robot-fixed reference, in particular according to
  • a (robot) controller in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has the following:
  • the controller or its agent has force-controlled and / or hand-guided means for starting and / or stopping the predetermined path and / or with constant or varying orientation of the robot-fixed reference.
  • the robot arrangement has a guide or guide for the robot-fixed reference, by which the path is or is predetermined or which is set up or used for this purpose.
  • the controller or its agent has:
  • Joint positions are determined, and positions on the given path depends, by means of an optimization method for determining the offset; and / or means for determining the offset of the detection means according to one here
  • 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 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, the robot or its
  • Adjust detection means and / or control and / or monitor the robot are adjusted detection means and / or control and / or monitor the robot.
  • one or more, in particular all, steps of the method are completely or partially automated, in particular by the controller or its (e) means.
  • FIG. 1 shows a robot arrangement with a robot, a guide and a controller according to an embodiment of the present invention
  • FIG. 2 shows a method for adjusting the robot according to an embodiment of the present invention.
  • Fig. 1 shows a robot assembly having a six-axis robot 1, a guide in the form of a rectangular metal profile 5 and a controller 3 according to an embodiment of the present invention, which performs a method for adjusting the robot 1 described below according to an embodiment of the present invention.
  • the controller 3 adjusts
  • Detecting means with relative encoders 2 for determining the joint positions initially coarse they can, for example, zeros or occupy predetermined for the initial poses of non-zero initial values.
  • a metal ball 4 is firmly fixed to a distal tool flange 11 of the robot 1 and the metal profile 5 is fixed relative to the proximal base 12 of the robot 1.
  • a step S30 the metal ball 4 fastened to its tool flange 11 is guided along the guide 5 or the metal profile 5 in the case of the robotic robot 1, so that its center or the TCP of the robot has a straight line that is predetermined by the metal profile 5 g descends in the working space of the robot.
  • n joint positions q; [Q ij q 2, i, q ⁇ i, q 4, i, sensing amplifier QS j, qe, i] T determined, one of which by way of example one is illustrated in FIG. 1.
  • a step S40 the controller 3 determines estimated values for the positions Pi,..., P n by means of the detection means coarsely adjusted on the basis of the output positions determined by the marking 5 with the relative rotary sensors 2 in accordance with equation (1).
  • the detecting means is adjusted with the relative rotary 2 and the robot 1 can be controlled and / or monitored in a determined by the detecting means with the relative rotary 2 based on or taking into account this offset joint positions in a step S60, after in step S50 metal ball 4th and metal profile 5 was removed. If the adjustment or the relationship between the relative mechanical position of the joints or members of the robot and the values determined by the detection means with the relative rotary 2 are lost, the robot 1 or its detection means with the relative rotary 2 in situ again simply, quickly and accurately be adjusted by the method S10 - S50 described above is performed again.
  • Positions of the tool flange 11 itself used or the TCP are placed in this, so that the position of the ball relative to the tool flange can be disregarded. This can be advantageously used, for example, when adjusting the proximal axes 1-3 of a delta robot.
  • step S10 with the aid of the marking elements 6 for pre-adjustment and the pose from which the straight line g is traversed may be different poses.

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

Abstract

L'invention concerne un procédé de réglage d'un robot (1) comportant les étapes consistant suivantes : - déterminer (S30) une pluralité de positions articulées (q1i, q2i, q3i, q4i, q5i, q6i) lorsqu'une trajectoire (g) prédéfinie est parcourue, avec une référence (4) fixe pour le robot, à l'aide d'un moyen d'acquisition (2); et - déterminer (S40) un décalage d'un moyen d'acquisition sur la base des positions articulées déterminées.
PCT/EP2018/061315 2017-05-08 2018-05-03 Réglage de robot Ceased WO2018206387A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880045635.XA CN110891742A (zh) 2017-05-08 2018-05-03 机器人校准

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017004433.3A DE102017004433B4 (de) 2017-05-08 2017-05-08 Roboterjustage
DE102017004433.3 2017-05-08

Publications (1)

Publication Number Publication Date
WO2018206387A1 true WO2018206387A1 (fr) 2018-11-15

Family

ID=62116437

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/061315 Ceased WO2018206387A1 (fr) 2017-05-08 2018-05-03 Réglage de robot

Country Status (3)

Country Link
CN (1) CN110891742A (fr)
DE (1) DE102017004433B4 (fr)
WO (1) WO2018206387A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111722633A (zh) * 2020-07-22 2020-09-29 上海金东唐科技有限公司 视觉引导取放料装置及系统
CN119137442A (zh) * 2022-05-26 2024-12-13 Abb瑞士股份有限公司 用于校正机器人的热漂移的方法和装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0824393A1 (fr) * 1995-03-30 1998-02-25 Asea Brown Boveri Ab Procede d'etalonnage des axes de mouvement d'un robot industriel et dispositif correspondant
US20040254677A1 (en) * 2003-06-11 2004-12-16 Torgny Brogardh Method for fine tuning of a robot program
DE102007001395A1 (de) 2007-01-09 2008-07-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Justieren wenigstens einer Achse
US20080201015A1 (en) * 2005-02-28 2008-08-21 Torgny Brogardh System for Calibration of an Industrial Robot and a Method Thereof
US20160332302A1 (en) * 2014-12-21 2016-11-17 Google Inc. Devices and Methods for Encoder Calibration

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4072628B2 (ja) * 1997-01-29 2008-04-09 株式会社安川電機 ロボットのキャリブレーション方法およびシステム
SE0001312D0 (sv) 2000-04-10 2000-04-10 Abb Ab Industrirobot
DE102005048136B4 (de) * 2005-10-06 2010-01-21 Kuka Roboter Gmbh Verfahren zum Bestimmen eines virtuellen Tool-Center-Points
DE202013105036U1 (de) * 2013-11-08 2015-02-10 Daimler Ag Erfassungseinrichtung
CN204390096U (zh) * 2014-12-22 2015-06-10 库卡罗伯特有限公司 在轨迹上有条件地停止至少一个操纵器的操纵器组

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0824393A1 (fr) * 1995-03-30 1998-02-25 Asea Brown Boveri Ab Procede d'etalonnage des axes de mouvement d'un robot industriel et dispositif correspondant
US20040254677A1 (en) * 2003-06-11 2004-12-16 Torgny Brogardh Method for fine tuning of a robot program
US20080201015A1 (en) * 2005-02-28 2008-08-21 Torgny Brogardh System for Calibration of an Industrial Robot and a Method Thereof
DE102007001395A1 (de) 2007-01-09 2008-07-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Justieren wenigstens einer Achse
US20160332302A1 (en) * 2014-12-21 2016-11-17 Google Inc. Devices and Methods for Encoder Calibration

Also Published As

Publication number Publication date
CN110891742A (zh) 2020-03-17
DE102017004433B4 (de) 2019-03-14
DE102017004433A1 (de) 2018-11-08

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