CN109070352A - Robot with mobile foundation and executor - Google Patents
Robot with mobile foundation and executor Download PDFInfo
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- CN109070352A CN109070352A CN201780026000.0A CN201780026000A CN109070352A CN 109070352 A CN109070352 A CN 109070352A CN 201780026000 A CN201780026000 A CN 201780026000A CN 109070352 A CN109070352 A CN 109070352A
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- executor
- pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 136
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000000034 method Methods 0.000 claims abstract description 42
- 230000004048 modification Effects 0.000 claims description 10
- 238000012986 modification Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 4
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- 238000003860 storage Methods 0.000 description 18
- 238000005516 engineering process Methods 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 238000005457 optimization Methods 0.000 description 6
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- 238000013461 design Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
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- 230000001419 dependent effect Effects 0.000 description 2
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- 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
- G05B2219/40298—Manipulator on vehicle, wheels, mobile
-
- 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
- G05B2219/40513—Planning of vehicle and of its manipulator arm
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Method according to the present invention for controlling robot, robot include: the pedestal (20) of the movement with motion driving mechanism (21), arrange on the base, have adjust driving mechanism (q1‑q7) executor (10) and controller (30), method includes the following steps: manipulation is for executing the adjusting driving mechanism and motion driving mechanism (S20) of nominal motion specific to the object of reference (TCP) of executor.
Description
Technical field
The present invention relates to a kind of robots of executor with mobile foundation and arrangement on the base and one kind to be used for
Control the method for the robot and a kind of for executing the computer program product of this method.
Background technique
For example, a kind of robot as known to patent document DE102012208095A1, has a mobile foundation and a cloth
Set the executor of robots arm's form on the mobile foundation.
In this case, it often requires mobile foundation is oriented properly in advance, so as to for example need to be added by robot
The component of work is located in the working region of executor, and then only executor moves in present no motion of pedestal.
However, up to the present, merely with the part potentiality of mobile robot.
Summary of the invention
The object of the present invention is to improve the operation of mobile robot, especially improve the programming to mobile robot.
Purpose of the present invention target is realized by a kind of method with feature described in claim 1.Claim 16,
17 protect a kind of robot with controller and a kind of computer program product used to perform the method.Preferred extension
Scheme is provided by dependent claims.
A kind of embodiment according to the present invention, (movement) robot include: the mobile foundation with motion driving mechanism；
Arrangement on the base, with adjust driving mechanism executor；And controller, in a kind of expansion scheme, the controller
It can entirely or partly arrange on the base.
In one embodiment, mobile foundation has the chassis coupled with motion driving mechanism, especially wheel chassis,
With one or more (driving) wheels and/or one or more wheels without driving with motion driving mechanism coupling.In a kind of expansion
In in exhibition scheme, one or more (driving and/or without driving) wheels are omni-directional wheels, especially so-called Mecanum wheel.It is additional
Ground or alternatively, in one embodiment, one or more (driving and/or without driving) wheels can passively or initiatively
Or it pivots or turns to by the directional drive of motion driving mechanism.Similarly, in one embodiment, mobile foundation can be with
Include air-cushion type, caterpillar or chain type chassis；Running gear or mechanism with two or more legs；Flight is driven
Dynamic device etc..In one embodiment, mobile foundation is relative to robot or the environment of pedestal, especially with respect to robot or
The ground of the environment of pedestal has one, two or three translation freedoms and/or one, two or three rotary freedom,
In this case, mobile foundation is that active movement or can be moved by motion driving mechanism.Therefore, mobile foundation can
It moves with the being especially rail mounted ground of track guidance in other words or freely, it especially can with horizontal cross and/or longitudinally
It freely advances and/or rotationally or deflectable around vertical line.Similarly, in one embodiment, mobile robot
Can be humanoid, araneiform or similar robot or its mobile foundation is two or more legs or a flying machine
Device people or its mobile foundation have flight driver, especially have one or more rotary wings, for example, can be go straight up to it is winged
Machine platform or unmanned aerial vehicle platform.In one embodiment, motion driving mechanism has one or more drivers, especially electric
Dynamic or hydraulic motor.
In one embodiment, executor have it is one or more, particularly at least four, particularly five, especially
Be just six or at least six, particularly at least seven joint or axis or freedom degree, they, which can pass through, adjusts driving machine
Structure is manipulated or is moved or adjusts, and executor especially can be robots arm.In one embodiment, one or more joints
Or axis is cradle head or rotation axis, and/or one or more joints or axis are arthrodia or linear axes.In a kind of embodiment party
In formula, executor has the end flange of (relative to a pedestal) distal end；In a kind of expansion scheme, end effector, especially
It is tool, especially mechanical, pneumatic and/or magnetic clamper especially can removably be fixed on the end flange
On, it is especially fixed in the end flange.In one embodiment, adjusting driving mechanism has one or more drivings
Device, especially electric motor or hydraulic motor.
In one embodiment, controller especially wirelessly or by wire drives with motion driving mechanism and/or adjusting
Motivation structure is connected, and especially by hardware technology and/or software technology, particularly programming technique be designed to carry out
Method described herein.
A kind of embodiment according to the present invention, for controlling the method for robot the following steps are included: in order to execute spy
Due to the nominal motion of the object of reference of executor, or in nominal motion of the execution specific to the object of reference on executor, or
Person makes to execute or seek to execute nominal motion, behaviour specific to the object of reference (in the range of tolerance or as much as possible) on executor
Control section manipulation group and movement manipulation group.Correspondingly, in one embodiment, robot, particularly its controller include for
Or driving mechanism and movement driving are adjusted for manipulating when executing specific to the nominal motion of object of reference on executor
The device of mechanism.
Therefore, in this embodiment, mobile foundation will participate in executing the specified fortune specific to the object of reference on executor
It is dynamic.It is possible thereby to preferably utilize the potentiality of mobile robot.
In one embodiment, manipulation includes that control instruction is transferred to corresponding driving mechanism, especially will control
The control instruction of device is transferred to adjusting driving mechanism, temporarily, at least moves to make executor adjust driving mechanism by it；
And/or the control instruction of controller is transferred to motion driving mechanism, to keep pedestal at least temporary by its motion driving mechanism
When move, especially at least temporarily individually movement or according to static relative to pedestal executor movement and/or at least
It is synchronous that the movement of driving mechanism is temporarily adjusted by it with executor.
In one embodiment, it can be defined specific to the object of reference of executor about end flange, especially quilt
It still defines, especially can have the tool center point of at least one so-called executor specific to the object of reference of executor
(" TCP "), especially can be the tool center point of so-called executor.
Nominal motion may include one or more setting positions of object of reference, the especially position of one or more dimensions and/
Or direction, it especially further include object of reference especially with respect to the environment of especially static robot or especially static
The one or more dimensions of world coordinate system, particularly sextuple nominal trajectory.Additionally or alternatively, in a kind of embodiment
In, nominal motion may include nominal position especially time change, especially along one or more directions displacement and/
Or the rotation around one or more axis.
In one embodiment, such as the machining path of the Payload based on setting and/or transportation route etc., in advance
Or nominal motion is determined or set offline.
It in one embodiment, is in operator to executor, spy specific to the nominal motion of the object of reference of executor
It is not specific for especially determining or setting online on the basis of the manual force application of the operating device of executor.Correspondingly,
In one embodiment, robot, particularly its controller include for operator to executor, particularly specific to
The manual force of the operating device of executor especially determines the volume specific to the object of reference of executor on the basis of applying online
Surely the device moved.In a kind of expansion scheme, controller or the device determine the nominal motion, so that the nominal motion follows
Manually power applies or seeks to reduce the manually power application for this, especially minimizes it, in particular so that the specified fortune
Dynamic direction is for example parallel to the direction or the set manual force that the manual force applies in set subspace
The projection of application, or it is designed to this purpose.
In a kind of expansion scheme, the power apply by means of in executor joint sensor, executor with
Sensor between pedestal and/or the sensor on one or more executor segmental appendages determine, especially by means of with
Executor, particularly its end flange be especially can nondestructive demounting or the operating device, especially that can not connect to nondestructive demounting
It is the sensor on handle to determine, and/or determined by means of the tactile-surface of executor.In one embodiment, it uses
It is flexibly adjusted in the executor for determining or inputting nominal motion, particularly by gravity compensation is adjusted, it is especially direct
Or soil fertility is adjusted indirectly, is especially adjusted by admittance adjusting or impedance, here, will also be adjusted herein to more compactly illustrate
Section is referred to as controlling, and antiparallel couple or torque are referred to as power.
It additionally or alternatively, in one embodiment, can be with specific to the nominal motion of the object of reference of executor
It is pressed based on the input unit for being spaced apart with robot and being connect with controller signals, especially control stick, computer mouse, control
The operation, particularly movement of button etc. especially determine online.
Correspondingly, in one embodiment, system includes robot and for detecting executor, particularly specific to behaviour
The device, particularly sensor that the manual force of the manipulation device of vertical device applies, and/or be spaced apart with robot and believe with controller
The input unit of number connection, and for determining volume based on the signal for coming from power (application) detection device and/or input unit
Surely the device moved.
According to a kind of embodiment, it the described method comprises the following steps: in order to execute specific to the object of reference of executor
Nominal motion or execute specific to the object of reference of executor nominal motion when, according to executor relative to pedestal especially
Current or actual posture, the especially current or actual position according to pedestal relative to environment, according to nominal motion
And/or the Payload guided according to executor, keep pedestal mobile by motion driving mechanism or changes the position of pedestal.Accordingly
Ground, in one embodiment, robot, particularly its controller are included in order to execute the reference specific to executor
The nominal motion of object or the spy in nominal motion of the execution specific to the object of reference of executor, according to executor relative to pedestal
Be not current or actual posture, according to pedestal relative to the especially current or actual position of environment, according to specified
Movement and/or the device for keeping pedestal mobile according to the Payload that executor guides and by motion driving mechanism.
In one embodiment, the method particularly including following steps: in order to execute the reference specific to executor
The nominal motion of object or execute specific to the object of reference of executor nominal motion when, according to the movement allowance of executor and/
Or the movement allowance according to pedestal, base motion is made by motion driving mechanism.Correspondingly, in one embodiment, machine
People, particularly its controller include in order to execute specific to the object of reference of executor nominal motion or execute it is specific
Pass through when the nominal motion of the object of reference of executor according to the movement allowance of executor and/or according to the movement allowance of pedestal
Motion driving mechanism makes the device of base motion.
In one embodiment, the movement allowance of executor is depending on executor especially with respect to the current of pedestal
The ratio of offset or deflection and the maximum, particularly horizontal offset or deflection especially with respect to pedestal of executor, especially
Proportional, or depending on its distal end end flange relative to specific to pedestal object of reference, particularly executor near
The current distance of the axis of nearly pedestal is divided by the end flange of the distal end relative to the object of reference, particularly executor specific to pedestal
The axis near pedestal maximum, particularly horizontal distance quotient, movement allowance can especially set this than or should
Thus quotient is defined.Herein, horizontal to be generally understood to reference planes, mobile foundation can be in the reference planes
Middle movement.
In one embodiment, the peak excursion of distal end flange or maximum distance can be especially by software skills
Art and/or hardware technology realize about the axis of one or more executors or the stop of freedom degreeTo set
Or definition.It, can be by distal end flange with respect to mobile robot of the invention accordingly in a kind of expansion scheme
The maximum distance or peak excursion of controller are selected as, less than the value of the upper possible and/or safe practice setting of design, so as to spy
It is not the activation ahead of time or mobile for realizing pedestal.
In one embodiment, the movement allowance of pedestal depends on its current location relative to software and/or hardware skill
It is that art is realized, specific to the retainer of environment or the distance on boundary, especially with its current location relative to software technology and/or
That hardware technology is realized, proportional specific to the retainer of environment or the distance on boundary, movement allowance can be especially somebody's turn to do in setting
Distance is defined accordingly.It, herein can also will be with respect to mobile robot of the invention in a kind of expansion scheme
The maximum distance of controller is selected as, less than the value of the upper possible and/or safe practice setting of design, especially to realize base
Seat is deactivated ahead of time or is closed.
In one embodiment, in order to execute specific to the object of reference of executor nominal motion or execute specific to
When the nominal motion of the object of reference of executor, motion driving mechanism is manipulated, increases the movement allowance of executor and/or pedestal.Phase
Answer in one embodiment, robot, particularly its controller are included in order to execute the reference specific to executor
The nominal motion of object manipulates motion driving mechanism in nominal motion of the execution specific to the object of reference of executor to increase behaviour
The device of the movement allowance of vertical device and/or pedestal.
Particularly, controller can be determined at least one setting position (difference) of the object of reference specific to executor
Two of mobile foundation are different position and can therefrom select, and manipulate motion driving mechanism to drive towards this selected
Position, executor and/or pedestal have biggish movement allowance in the position, or are arranged thus.
Accordingly in one embodiment, it is preferably protected in execution specific to during the nominal motion of the object of reference of executor
Movement allowance is held, to realize for example bigger and/or faster nominal motion.
Additionally or alternatively, in one embodiment, if as long as executor and/or pedestal movement allowance
Lower than the boundary value, particularly minimum value of setting, then in order to execute specific to the object of reference of executor nominal motion or holding
Row specific to the object of reference of executor nominal motion when, only by motion driving mechanism make pedestal move.Correspondingly, in one kind
In embodiment, if as long as robot, particularly its controller include or the movement allowance of executor and/or pedestal is lower than
The boundary value, particularly minimum value of setting, then in order to execute specific to the object of reference of executor nominal motion or executing spy
When the nominal motion of the object of reference of executor, the device of pedestal movement is only made by motion driving mechanism.
Therefore, in one embodiment, it is preferable that executing the nominal motion phase specific to the object of reference of executor
Between, pedestal moves according only to needs or can be static when not needed, and is therefore especially reduction of energy consumption and/or touches
It hits risk and/or improves kinematic accuracy.
In one embodiment, according to the nominal motion of the object of reference specific to executor, especially nominal motion
Horizontal component, especially along the direction of nominal motion, determination moves allowance.Correspondingly, in one embodiment, robot, spy
It is not that its controller is included for according to the nominal motion of the object of reference specific to executor, particularly the level of nominal motion
Component determines the device of movement allowance especially along the direction of nominal motion.
Therefore, in one embodiment, the following advantageous movement allowance can be predicted based on nominal motion.
Additionally or alternatively, in one embodiment, in addition in view of movement allowance other than, this method particularly including
Following steps: in order to execute specific to the object of reference of executor nominal motion or executing the object of reference specific to executor
When nominal motion, according to the rollover stability of robot, pass through motion driving mechanism mobile foundation.Correspondingly, in a kind of implementation
In mode, robot, particularly its controller include in order to execute specific to the object of reference of executor nominal motion or
Motion driving mechanism is passed through according to the rollover stability of robot in nominal motion of the execution specific to the object of reference of executor
The device of mobile foundation.
In one embodiment, the rollover stability of robot depends on being applied by the Payload that executor guides
Torque, it is especially proportional to the torque that the Payload guided by executor is applied.Correspondingly, in a kind of embodiment
In, the rollover stability of robot is according to weight and/or the Payload guided according to executor relative to pedestal, particularly spy
Due to the object of reference of pedestal, particularly coming especially proximate to the sloping edge of Payload or the horizontal distance of center of gravity for robot
It determines.Correspondingly, in one embodiment, robot, particularly its controller include for according to weight and/or according to
Executor guidance Payload relative to pedestal, particularly specific to pedestal object of reference, particularly robot especially
The device of the rollover stability of robot is determined close to the sloping edge of Payload or the horizontal distance of center of gravity.
In one embodiment, in order to execute specific to the object of reference of executor nominal motion or execute specific to
When the nominal motion of the object of reference of executor, it is by motion driving mechanism manipulation, so that the rollover stability of robot increases.Phase
Ying Di, in one embodiment, robot, particularly its controller include to execute the object of reference specific to executor
Nominal motion or execute specific to the object of reference of executor nominal motion when manipulation motion driving mechanism make robot
Rollover stability increase device.
Particularly, controller can be determined at least one nominal motion (difference) of the object of reference specific to executor
The possible different position of at least two of mobile foundation, therefrom selecting makes executor and/or robot have bigger movement
The position of allowance, and manipulate the position that motion driving mechanism drives towards the selection；Or it is designed to this purpose.
Accordingly in one embodiment, it is advantageously dropped in execution specific to during the nominal motion of the object of reference of executor
The low risk overturned improves stability.
Additionally or alternatively, in one embodiment, if as long as or robot rollover stability lower than setting
Boundary value, particularly minimum value, then in order to execute specific to the object of reference of executor nominal motion or execute specific to
When the nominal motion of the object of reference of executor, only pass through motion driving mechanism mobile foundation.Correspondingly, in a kind of embodiment
In, if robot, particularly its controller include: for or robot rollover stability lower than setting boundary value, spy
Not minimum value, then in order to execute specific to the object of reference of executor nominal motion or execute specific to executor reference
Only pass through the device of motion driving mechanism mobile foundation when the nominal motion of object.
Therefore in one embodiment, in execution specific to during the nominal motion of the object of reference of executor, pedestal has
Sharp ground only moves when needed, can stop when not needed in other words, and be thus especially reduction of energy consumption and/or touch
It hits risk and/or in particular improves kinematic accuracy.
Additionally or alternatively, in one embodiment, in addition in view of movement allowance and/or rollover stability it
Outside, this method particularly including following steps: in order to execute specific to the object of reference of executor nominal motion or execute it is specific
When the nominal motion of the object of reference of executor, according to the horizontal component of the nominal motion of the object of reference specific to executor, lead to
Cross motion driving mechanism mobile foundation.Correspondingly in one embodiment, robot, particularly its controller are included and are used for
In order to execute specific to the object of reference of executor nominal motion or execute specific to executor object of reference nominal motion
When pass through the device of motion driving mechanism mobile foundation according to the horizontal component of the nominal motion of the object of reference specific to executor.
In a kind of expansion scheme, if as long as or the nominal motion specific to the object of reference of executor horizontal component it is low
In the boundary value, particularly maximum value of setting, then in order to execute specific to the object of reference of executor nominal motion or executing
Specific to the object of reference of executor nominal motion when, only pass through motion driving mechanism mobile foundation.Correspondingly in a kind of implementation
In mode, if robot, particularly its controller include: for or specific to executor object of reference nominal motion
Horizontal component is lower than the boundary value, particularly maximum value set, in order to execute the nominal motion specific to the object of reference of executor
Or only pass through the device of motion driving mechanism mobile foundation in nominal motion of the execution specific to the object of reference of executor.
Therefore in one embodiment, the movement of executor can especially be superimposed the movement of pedestal, to realize more
High nominal motion, especially horizontal normal speed.
Accordingly in one embodiment, in execution specific to during the nominal motion of the object of reference of executor, pedestal has
Sharp ground only moves or can stop when not needed when needed, and is therefore especially reduction of energy consumption and/or collision
Risk and/or in particular improve kinematic accuracy.
In one embodiment, this method includes the following steps: according to executor relative to the especially specified of pedestal
Posture and/or current or practical posture, and/or especially nominal position and/or current or reality according to pedestal relative to environment
Border position releases, especially by means of or based on a weight of especially entire mobile robot or the automatic redundancy of multiple redundancy
It is redundancy optimization, it is specific to execute by motion driving mechanism mobile foundation and/or by adjusting driving mechanism mobile manipulator
In the nominal motion of the object of reference of executor, in particular so that the navigability and/or its phase of especially entire mobile robot
The Descartes's retainer and/or axis retainer of distance and/or hardware technology for barrier and/or software technology setting away from
From increase, especially maximize.Correspondingly in one embodiment, robot, particularly its controller are included for basis
Especially specified posture and/or current or practical posture of the executor relative to pedestal, and/or according to pedestal relative to environment
Especially nominal position and/or current or physical location, by means of or based on especially entire mobile robot a weight or more
The automatic redundancy of weight redundancy releases, particularly redundancy optimization, drives by motion driving mechanism mobile foundation and/or by adjusting
The device of motivation structure mobile manipulator, in particular so that the navigability of especially entire mobile robot and/or its relative to
The Descartes's retainer of distance and/or hardware technology and/or software technology setting and/or the distance of axis retainer of barrier increase
Greatly, it especially maximizes.
In one embodiment, executor is especially is executed by means of the end being arranged on its distal end flange
Device, particularly clamper, bogey etc. guide the personnel of Payload, particularly workpiece or especially limitation of movement.
Therefore, in one embodiment, robot can individually or with another robot or especially drawn
The personnel led collaboratively execute the movement of Payload, especially support the movement of Payload.In one embodiment, machine
Device people is especially the gravity for the Payload that can compensate or support executor to guide, and enabling the operator to advantageously processing should
Payload.
A kind of embodiment according to the present invention, method includes the following steps: executing the reference specific to executor
When the nominal motion of object, one or more positions of pedestal, especially position sequence or path are stored, in a kind of embodiment
In, it further include and optionally modifying pedestal by means of positioning device (precedingly) positioning pedestal or its (to be stored) position
The storage location or one or more positions stored.Correspondingly in one embodiment, robot, particularly its control
Device processed include: for execute specific to the object of reference of executor nominal motion when storage pedestal one or more positions,
The especially device of position sequence or path；With the storage location for optionally modifying pedestal or one or more stored
Position device；And the positioning in a kind of expansion scheme for being positioned to pedestal or its (to be stored) position fills
It sets.In one embodiment, which especially by means of laser optics detects position to be stored or is set
Meter is for this purpose.Additionally or alternatively, in one embodiment, machine is completely or partially arranged in positioning device
People side, particularly base side, and/or ambient side is completely or partially set, positioning device can especially have one
Or the tracing system outside multiple onboard laser scanners and/or (robot).
In a kind of expansion scheme, this method particularly including following steps: executing specific to the object of reference of executor
When nominal motion, one or more positions of pedestal, especially position sequence or path are stored；Driving towards being stored for pedestal
In the case where position, the nominal motion specific to the object of reference of executor is repeatedly carried out, and repeat to hold in other words in the repetition
The position that the storage location or one or more that pedestal is optionally modified between the departure date are stored.Correspondingly in a kind of embodiment party
In formula, robot, particularly its controller include: for the storage in nominal motion of the execution specific to the object of reference of executor
One or more positions of pedestal, particularly position sequence or the device in path；For in the position stored for driving towards pedestal
In the case where repeat the device of nominal motion specific to the object of reference of executor；With for repeating in other words in the repetition
The storage location of pedestal or the device of one or more positions stored are optionally modified during execution.
It therefore in one embodiment, can be in the first stage or in first pass first especially by or based on certainly
Dynamic redundancy releases, particularly redundancy optimization, in order to execute specific to the object of reference of executor nominal motion or executing spy
When the nominal motion of the object of reference of executor, especially in a manner of described herein and executor and/or base are being considered
Seat movement allowance, robot rollover stability and/or specific to executor object of reference nominal motion horizontal component
In the case where, preferably determine the position of pedestal.
Then in second stage, modification when needed, particularly the base stored manually or by operator's input
The position of seat, modifies the position of stored pedestal, so as to such as avoiding barrier etc. and/or area of computer aided so as to example
As next especially by means of or based on to a weight of especially entire mobile robot or the automatic redundancy of multiple redundancy
Release, particularly redundancy optimization come optimize movement, in particular so that the navigability of especially entire mobile robot and/or its
The Descartes's retainer and/or axis retainer that distance and/or hardware technology and/or software technology relative to barrier are set
Distance increases, and especially maximizes.Particularly, in second stage can drive towards pedestal for example in the first phase really
In the case where fixed position, re-execute or repeat especially to sail (again) specific to the nominal motion of the object of reference of executor
Cross the nominal trajectory specific to the object of reference of executor, and modification is stored in the first stage as needed in this case
The position of pedestal.
In one embodiment, especially during repeating stored position and posture, in addition to the position of pedestal
Except setting, it is also especially the posture for constantly storing and/or optionally modifying executor relative to pedestal.Additionally or substitute
Ground, in one embodiment, the position of pedestal are stored in map, and in a kind of expansion scheme, which is used for pedestal
Navigation.Correspondingly, in one embodiment, robot, particularly its controller include: for especially repeating
During the position stored and posture, appearance of the executor relative to pedestal is especially constantly stored other than the position of pedestal
State and/or optionally device of the modification executor relative to the posture of pedestal.In one embodiment, robot, particularly
Its controller has for the position of pedestal to be stored in the device in map, and in a kind of expansion scheme, which is used for base
The navigation of seat.
In one embodiment, this method is correspondingly the following steps are included: based on repeating specific to executor
Object of reference nominal motion during operator's input, the position for modifying stored pedestal one or more is in other words deposited
The position of the pedestal of storage.Correspondingly, in one embodiment, robot, particularly its controller are included for based in weight
Operator's input during the multiple nominal motion executed specific to the object of reference of executor and the position for modifying stored pedestal
The device of the position of one or more pedestals stored in other words.
In a kind of expansion scheme, operator's input can especially include: executor and/or pedestal, particularly special
Apply due to the manual force of executor or the manipulation device of pedestal；And/or it is spaced apart with robot and is connect with controller signals
Input unit manipulation, particularly movement, especially such as the object of reference described herein about specific to executor
The determination or setting of nominal motion are such.
In one embodiment, in the feelings for driving towards stored base position with the speed of reduced executor and pedestal
Under condition, the nominal motion specific to the object of reference of executor is repeated, and modify the pedestal of the storage in this case
Position or the position of one or more pedestals stored.Correspondingly in one embodiment, robot, particularly its control
Device is included for repeating spy in the case where driving towards stored base position with the speed of reduced executor and pedestal
Due to the device of the nominal motion of the object of reference of executor；With for this with reduced speed repeat during based on operation
Person inputs the device of the position of the position for modifying the pedestal of the storage or one or more pedestals stored.
Thus in one embodiment, it can simplify the modification and/or raising safety and/or precision.
In one embodiment, the location expression of pedestal pedestal relative to especially fixed environment, particularly to
The component of processing or especially fixed the one-dimensional of world coordinate system, the position of bidimensional or three-dimensional and/or one-dimensional, bidimensional or three-dimensional
Direction.
In one embodiment, in order to execute specific to the nominal motion of the object of reference of executor or specific to manipulation
When the nominal motion of the object of reference of device, the position for the pedestal that (corresponding) one is stored and the object of reference institute specific to executor
The nominal position or executor driven towards are interrelated relative to a posture of pedestal or link, especially mutually storage.Accordingly
Ground, in one embodiment, robot, particularly its controller are included in order to execute the reference specific to executor
The position of the nominal motion of object or the pedestal for being stored (corresponding) one when specific to the nominal motion of the object of reference of executor
Set and specific to executor object of reference the nominal position driven towards or executor mutually close relative to a posture of pedestal
Connection or link, particularly the device mutually stored.
In one embodiment, modification may include change to the position stored and storage, particularly again again
It writes or substitutes, especially can be the change to the position stored and store, particularly rewrite again or substitute.
Device under meaning of the present invention can be constituted with hardware technology and/or software technology, especially include preferably with deposit
Storage system and/or bus system carry out the processing unit of data connection or signal connection, especially digital processing element, especially
Microprocessor unit (CPU)；And/or one or more programs or program module.For this purpose, can be by CPU design are as follows: execute by reality
The now instruction of the program for storage within the storage system；The input signal from data/address bus is detected, and/or output signal is sent out
It send to data/address bus.Storage system can have one or more and especially be different storage medium, especially optical, magnetic
Property, solid and/or other non-volatile media.Program can be to embody executes side described herein in other words
Method, so that the step of CPU is able to carry out this method, and thus can especially control robot.
In one embodiment, the one or more steps of this method is complete especially by controller or its device
Or partly automatic execution, in one embodiment, which is designed accordingly to execute one to be completely or partially automatic
A or multiple steps described herein.
Detailed description of the invention
Other advantages and features are provided by dependent claims and embodiment.Some illustrative is shown thus:
Figure 1A to Fig. 1 D is the control to robot according to one embodiment of the present invention；
Fig. 2 is the method according to one embodiment of the present invention.
Specific embodiment
Figure 1A shows robot according to an embodiment of the present invention, the behaviour with 10 form of six-joint robot arm
Vertical device, the joint of the six-joint robot arm or axis or freedom degree can pass through the adjusting driver of the adjusting driving mechanism of robot
q1,…,q7To adjust.
Robots arm 10 has the end flange 11 of distal end, which there is the end of 12 form of clamper to execute
Device, the end effector guide Payload 13.
The robots arm is arranged on mobile foundation 20, and the Mecanum wheel of the mobile foundation can pass through the fortune of robot
The motion drive 21 of driving mechanism is moved to adjust.
In addition, there also is provided robot controller 30 on pedestal 20, the robot controller and adjust driving mechanism and
The connection of motion driving mechanism signal, and execute and explained later with reference to Fig. 2 and sequence of drawings Figure 1A → Figure 1B → Fig. 1 C → Fig. 1 D
The method according to an embodiment of the present invention stated.
In first step S10 (see Fig. 2), controller 30 applies F (see Figure 1A) based on the manual force of executor and determines machine
Specified (continuous) movement of the reference specific to executor of the TCP form of device robot arm 10.
In one embodiment, the manual force apply can by sensor in the joint of robots arm 10 or
Sensor between robots arm 10 and pedestal 20 detects.In a kind of modification, the behaviour in 14 form of handle can also be passed through
Make the sensor on device to detect the manual force and apply, the handle is shown in dotted line in figure 1A.In another modification,
The nominal motion can also be by means of the behaviour of the input unit 15 (it is shown in dotted line in figure 1A) of such as radio connection
Vertical pole etc. inputs or passage path planning determines.
In second step S20, controller 30 determines it along nominal motion side based on the current pose of robots arm 10
To movement allowance, and based on gravity and Payload 13 and its relative to the inclined side near Payload of pedestal 20
The horizontal distance of edge (supporting-line of right wheel in Fig. 1) determines its rollover stability.
As shown in Figure 1A, if rollover stability is lower than the boundary value of setting because of the offset of robots arm, in step
In rapid S20, the manipulation of motion driving mechanism 21 is by controller 30, so that pedestal 20 is advanced, to increase rollover stability.This
It is shown by the Motion arrow x in figure series Figure 1A → Figure 1B and Figure 1B.In one embodiment, controller 30 can be borrowed
Help or fortune is controlled based on the automatic redundancy releasing of a weight of entire mobile robot or multiple redundancy, particularly redundancy optimization
Dynamic driving mechanism 21 and adjusting driving mechanism q1,…,q7, such as (additionally) make distance of the mobile robot relative to barrier
Increase.
In third step S30, controller 30 stores driven towards pedestal 20 relative to environment, for example relative to effectively negative
Lotus 13 or specific to space terrestrial reference position and TCP position.
In step s 40, controller 30 checks whether the nominal motion for continuing to input TCP.If it is (S40: " Y "), then
Return step S10.
Robot can support the vertical raising of Payload 13 as a result, and automatically advance to thus it is advantageous, can be with
The position of rolling stabilizing (see Figure 1A, Figure 1B).
Then, in this embodiment, operator makes 13 horizontal movement of Payload of raised executor guidance, such as attached
Shown in graphic sequence Fig. 1 C → Fig. 1 D.In this case, robot guides or carries Payload 13 or balance its gravity.
For this purpose, operator applies horizontal directed force F now, on this basis, controller 30 determines TCP in step slo
It is corresponding it is specified it is (continuous) movement.
In step S20, controller 30 determines it along the nominal motion again based on the current pose of robots arm 10
The movement allowance in direction, and based on weight and Payload 13 and its inclination near Payload relative to pedestal 20
The distance at edge determines its rollover stability again.
As shown in Figure 1 C, if robots arm 10 still has sufficient rollover stability and has along nominal motion direction
Abundant exercise allowance, and its speed lower than the boundary value of setting, then controller 30 manipulates in step S20 adjusts driving machine
Structure and motion driving mechanism, so that robots arm 10 individually follows nominal motion when pedestal 20 stops.This passes through in fig. 1 c
The corresponding Motion arrow of robots arm 10 is shown.
On the contrary, if robots arm 10 no longer has sufficient rollover stability as shown in figure iD, or along specified fortune
It is more than the boundary value of setting that dynamic direction, which no longer has abundant exercise allowance or its speed, then controller 30 is grasped in step S20
Control section driving mechanism and motion driving mechanism so that pedestal 20 moves as follows: that is, TCP because pedestal 20 movement or because
For robots arm 10 superimposed motion and individually follow nominal motion.This is shown in Fig. 1 D by Motion arrow x.
As described above, it can execute respectively in this case excellent to the especially automatic redundancy of entire mobile robot
Change.
In step s 30, controller 30 is again by pedestal 20 relative to environment is constant or the position of change is together with TCP's
Corresponding position stores together, and checks whether the nominal motion for continuing to input TCP in step s 40.
If not (S40: " N "), then controller continues to execute step S50.
In this step, controller repeats the volume of TCP in the case where driving towards the corresponding storage location of pedestal 20
Fixed movement.
For example, if the motion driving mechanism 21 of controller manipulation pedestal 20, so that pedestal rises again in Payload 13
Rolling stabilizing position (see Figure 1B) determined by driving towards again in the case where height relative to Payload, makes machine in TCP
The rollover stability and movement allowance of robot arm 10 are enough and the speed of nominal motion is lower than in the orbit segment of boundary value, are maintained at
(referring to Fig. 1 C) in one position, or it is insufficient or specified in the rollover stability for making robots arm 10 or movement allowance of TCP
The speed of movement is more than individually or with the movement for the robots arm 10 being superimposed to realize TCP's together in the orbit segment of boundary value
Track.
In this case, controller 30 detects operator respectively and inputs x', such as passes through the manual force application of pedestal, behaviour
The driving instruction on the motion driving mechanism 21 of pedestal 20 such as vertical pole, and changed by inputting x' according to operator using controller
Become the position of stored pedestal and again storage (such as covering stored position), modifies stored pedestal if necessary
20 position.
In step S60, controller 30 checks whether the nominal motion of TCP has been fully implemented.If it is (S60:
" Y "), then this method terminates, if not (S60: " N "), then controller return step S50.
Therefore, (step S10 can set TCP's especially by manual guidance first into S40) in the first stage
Nominal trajectory, and the path suitable for pedestal 20 or position sequence are automatically determined accordingly, so that robots arm 10 has bigger fortune
It moves allowance and robot has higher rollover stability.Then, in second stage, (step S50, can be in weight into S60)
The path of pedestal 20 is modified when the track of multiple stored TCP and the respective paths of the pedestal stored, by operator so as to example
Such as hide new barrier.
In such a case, it is possible to reduce the speed of robots arm 10 and pedestal 20, in step s 50 in order to modify.
It additionally or alternatively, can also be in the nominal motion for repeating TCP other than in addition to this based on the modification of operator's input
When area of computer aided modify path or the position sequence of pedestal 20, such as optimized by means of path planning, especially borrowed
Help or the automatic redundancy based on the redundancy to entire mobile robot releases, especially redundancy optimization, in particular so that entirely
The navigability of mobile robot and/or its relative to barrier distance and/or hardware technology and/or software technology set
The distance of Descartes's retainer and/or axis retainer increases.
Although it has been explained that illustrative embodiment in description in front, it should be noted that there may also be
Many modifications.Further note that in these illustrative embodiments be only example, they to protection scope,
It is not limited in any way using with structure.On the contrary, those skilled in the art can be obtained by the description of front at least one
The introduction that illustrative embodiments are converted, wherein in the case without departing from the scope of protection of the present invention, spy may be implemented
Be not the various change about the function and arrangement of the component, for example, can according to claim and the combination of equivalent feature come
It obtains.
Reference signs list
10 robots arms (executor)
11 end flanges
12 clampers
13 Payloads
14 handles (operating device)
15 external input devices
20 mobile foundations
21 (Mecanum wheels) with motion drive
30 (robot) controllers
F manual force applies
q1,…,q7It adjusts driver (freedom degree)
The movement of x pedestal
X ' operator input
TCP tool center point.
Claims (17)
1. a kind of method for controlling robot, the robot includes: the base of the movement with motion driving mechanism (21)
Seat (20) is arranged on the pedestal and has adjusting driving mechanism (q1-q7) executor (10) and controller (30), it is described
Method the following steps are included:
It manipulates (S20) and adjusts driving mechanism and motion driving mechanism, to execute specific to the specified of the object of reference (TCP) of executor
Movement.
2. the method according to claim 1, wherein the following steps are included:
According to the executor (10) relative to the postures of the pedestal (20), the pedestal (20) relative to environment position,
The nominal motion and/or the Payload (13) of executor guidance, it is described by the motion driving mechanism (21) mobile (S20)
Pedestal (20), to execute the nominal motion of the object of reference (TCP) specific to executor.
3. according to the method described in claim 2, characterized by comprising the following steps:
It is mobile by the motion driving mechanism (21) according to the movement allowance of the executor (10) and/or the pedestal (20)
(S20) pedestal (20), to execute the nominal motion of the object of reference (TCP) specific to executor.
4. according to the method described in claim 3, characterized by comprising the following steps:
According to the nominal motion of the object of reference specific to executor, (S20) described movement allowance is determined.
5. method according to any of the preceding claims, which comprises the following steps:
It is mobile (S20) described pedestal (20) by the motion driving mechanism (21) according to the rollover stability of robot, to execute
The nominal motion of the object of reference (TCP) specific to executor.
6. according to the method described in claim 5, characterized by comprising the following steps:
According to weight and/or the horizontal distance of Payload (13) away from the pedestal guided by executor, determine that (S20) is described
Rollover stability.
7. method according to any of the preceding claims, which comprises the following steps:
It is mobile (S20) described pedestal (20) by the motion driving mechanism (21) according to a horizontal component of the nominal motion,
To execute the nominal motion of the object of reference (TCP) specific to executor.
8. method according to any of the preceding claims, which is characterized in that executor (10) guidance one is effectively
Load (13).
9. method according to any of the preceding claims, which is characterized in that described specific to executor in order to execute
Object of reference (TCP) nominal motion and by the motion driving mechanism (21) manipulation be make robot rollover stability and/
Or the movement allowance increase of the executor (10) and/or the pedestal (20).
10. method according to any of the preceding claims, which comprises the following steps:
When executing the nominal motion specific to the object of reference of executor, at least one position of the pedestal (20) is stored
(S30)；And
It optionally modifies described at least one is stored when executing the nominal motion specific to the object of reference of executor
The position (S50) of pedestal.
11. according to the method described in claim 10, characterized by comprising the following steps:
In the case where driving towards the position for the pedestal (20) that at least one is stored, repeat (S50) execute it is described specific to
The nominal motion of the object of reference (TCP) of executor, wherein during this is repeated, optionally modify at least one and stored
The pedestal position.
12. according to the method for claim 11, which is characterized in that driving towards what at least one was stored with reduced speed
In the case where the position of the pedestal (20), the specified fortune of (S50) object of reference (TCP) specific to executor is repeated
It is dynamic, and in this case modifying the position for the pedestal that at least one is stored.
13. the method according to any one of preceding claims 10 to 12, which comprises the following steps:
The position of (x ') modification (S50) at least one described pedestal stored is inputted based on operator.
14. according to the method for claim 13, which is characterized in that it includes to the executor that the operator, which inputs (x '),
(10) and/or the manual force of the pedestal (20) applies, especially to the operating device (14) specific to executor or pedestal
Manual force applies, and/or to the behaviour for the input unit (15) for being spaced apart and being connected with the controller in a signal way. with the robot
It is vertical, particularly mobile.
15. method according to any of the preceding claims, which comprises the following steps:
Based on to the executor (10), particularly specific to executor operating device (14) manual force apply and/or it is right
The manipulation, particularly movement for the input unit (15) for being spaced apart and being connected with the controller in a signal way. with the robot determine
The nominal motion of the object of reference (TCP) specific to executor.
16. a kind of robot, comprising: the pedestal (20) of the movement with motion driving mechanism (21) is arranged on the pedestal
And has and adjust driving mechanism (q1-q7) executor (10) and controller (30), the controller (30) is designed to execute
Method according to any of the preceding claims.
17. a kind of computer program product with program code, said program code is stored in Jie that can be read by computer
In matter, the computer program product is for executing method according to any of the preceding claims.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016005029.2A DE102016005029A1 (en) | 2016-04-26 | 2016-04-26 | Robot with mobile carrier and manipulator |
| DE102016005029.2 | 2016-04-26 | ||
| PCT/EP2017/000510 WO2017186345A1 (en) | 2016-04-26 | 2017-04-20 | Robot comprising a mobile support and a manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109070352A true CN109070352A (en) | 2018-12-21 |
Family
ID=58640815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780026000.0A Pending CN109070352A (en) | 2016-04-26 | 2017-04-20 | Robot with mobile foundation and executor |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3448631A1 (en) |
| CN (1) | CN109070352A (en) |
| DE (1) | DE102016005029A1 (en) |
| WO (1) | WO2017186345A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017010197B4 (en) * | 2017-10-30 | 2019-10-10 | Kuka Deutschland Gmbh | Method for operating an automatic transporter |
| DE102018207826A1 (en) * | 2018-05-18 | 2019-11-21 | Kuka Deutschland Gmbh | Handling, in particular, transport of goods, in particular wafers, by a robot |
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| US7874386B2 (en) * | 2007-05-11 | 2011-01-25 | Pinhas Ben-Tzvi | Hybrid mobile robot |
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- 2017-04-20 WO PCT/EP2017/000510 patent/WO2017186345A1/en active Application Filing
- 2017-04-20 EP EP17720001.1A patent/EP3448631A1/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3448631A1 (en) | 2019-03-06 |
| WO2017186345A1 (en) | 2017-11-02 |
| DE102016005029A1 (en) | 2017-10-26 |
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