Patent Grant
10464210
This application is the U.S. National Phase of, and Applicant claims priority from, International Application No. PCT/DE2015/100404, filed 28 Sep. 2015, and German Patent Application No. DE 10 2014 114 234.9, filed 30 Sep. 2014, both of which are incorporated herein by reference in their entirety.
The invention relates to a method and to a device for open-loop/closed-loop control of a robot manipulator, which includes a sensor for detecting a mechanical interaction with an environment. The invention further relates to a robot having such a device, as well as to a computer system, a digital storage medium, a computer program product, and a computer program.
Methods and devices for open-loop/closed-loop control of a robot manipulator are known. Thus, from DE 102010048369 A1, for example, a method and a device for safe open-loop control of at least one robot manipulator is known, wherein at least one safety functionality is monitored. A safety functionality in the sense of DE 102010048369 A1 preferably represents precisely an elementary physical variable or functionality, for example, the state or output of a switch, of a sensor, or of a computation unit. An elementary physical variable or functionality can also be multidimensional and, accordingly, it can also be formed by several switches, sensors, and/or computation units. Thus, for example, an external force acting on the manipulator, particularly at the Tool Center Point (TCP), can represent an elementary physical variable or functionality, which accordingly can be represented by a “force at the TCP” safety functionality, and which can be monitored, for example, for the presence of a threshold value or to determine whether a threshold value has been exceeded or not reached.
A safety functionality in the sense of DE 102010048369 A1 can be a contact detection, in particular by detection of a one-dimensional or multi-dimensional contact force, a collision detection, in particular by detection of forces in manipulator articulations or drives, an axial area monitoring, a path accuracy, in particular a tube around the Cartesian trajectory, a Cartesian workspace, a safety zone, a braking ramp, a braking before one or more safety zones or spatial boundaries, a manipulator configuration, a tool orientation, an axial speed, an elbow speed, a tool speed, a maximum external force or a maximum external torque, a distance with respect to the environment or a person, a retention force, or the like.
Safety functionalities are preferably monitored using a safe technology, in particular redundantly and preferably in diverse manners or with a safety protocol. For this purpose, it is preferable that one or more parameters, for example, outputs of sensors or calculation units, are detected independently of a work controller of the respective manipulator, and, in particular after further processing in a calculation unit, for example, after coordinate transformation, are monitored to determine whether threshold values have been exceeded. In a proposed embodiment, if at least one of the parameters to be detected cannot be detected reliably, for example, due to sensor failure, the corresponding safety functionality responds in a proposed embodiment.
In DE 102010048369 A1, it is then proposed to implement the safety monitoring as a state machine, which can alternate between two or more states in each of which one or more of the above-explained safety functionalities, which are predetermined for this state, are monitored. The implementation can be converted, in particular, by a corresponding programming and/or a corresponding program execution, in particular in the form of a so-called virtual state machine.
Moreover, from DE 102013212887 A1, a method for open-loop control of a robot device is known, which includes a movable robotic manipulator, in which a movement speed and/or movement direction of the manipulator is monitored and optionally adapted taking into consideration medical injury parameters and a robot dynamics. According to DE 102013212887 A1, the manipulator and/or effector can move along a predetermined path or at a predetermined movement speed. The medical injury parameters can contain information representative of an effect of a collision between the manipulator and a human body, and they can be used as input variable in the method. The effect can be an injury of a human body. A movement speed and/or movement direction of the manipulator can be adapted, for example, by reduction, in order to reduce or prevent an injury. A robot dynamics can be a physical, in particular a kinetic dynamics. A robot dynamics can be a dynamics of a rigid and resilient many-body system. For monitoring and optionally adapting the movement speed and/or movement direction of the manipulator, a collision mass, a collision speed, and/or a collision contact geometry of the manipulator can be taken into consideration. A collision mass, a collision speed, and/or a collision contact geometry of the manipulator can be used in the method as input variable. An expected collision mass, collision speed, and/or collision contact geometry of at least one predetermined relative point of the manipulator can be taken into consideration. Here, the expectation can relate to an assumed or known location of a human in the work area of the robot device, taking into consideration the predetermined movement path. In order to monitor and optionally adapt the movement speed and/or movement direction of the manipulator, characteristic values can be used, which represent, on the one hand, a relation between collision mass, collision speed, and/or collision contact geometry of the manipulator, and, on the other hand, medical injury parameters. The characteristic values can be represented in mass-speed diagrams for different contact geometries and different injury types. The contact geometries can be simple representative geometries. A contact geometry can be wedge-shaped. The contact geometry can be wedge-shaped with different angles. A contact geometry can be spherical. The contact geometries can be spherical with different diameters. An injury type can be an injury of closed skin of a body. An injury type can be an injury of muscles and tendons of a body.
The aim of the invention is to indicate a method and a device for open-loop/closed-loop control of a robot manipulator, which further reduces a risk of injury or damage in the case of a collision of the robot manipulator with an object, in particular a human.
The invention results from the features of the independent claims. Advantageous developments and embodiments are the subject matter of the dependent claims. Additional features, possible applications, and advantages of the invention result from the following description as well as from the explanation of example embodiments of the invention which are represented in the figures.
The aim is achieved according to a first aspect of the invention by a method for open-loop/closed-loop control of a robot manipulator, which includes a sensor for detecting a mechanical interaction with an environment. The proposed method is characterized in that a force-time curve of an external force {right arrow over (F)}(t) acting on the robot manipulator is determined based on the detection by the sensor, and, if a value |{right arrow over (F)}(t)| of the detected force {right arrow over (F)}(t) is greater than a defined threshold value G1: |{right arrow over (F)}(t)| >G1, a safety mode of the robot manipulator is activated, which open-loop/closed-loop controls a movement speed |{right arrow over (V)}(t)| and/or a movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| depending on the detected force {right arrow over (F)}(t), wherein the movement speed |{right arrow over (V)}(t)| and/or the movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| of the robot manipulator is/are open-loop/closed-loop controlled depending on predetermined medical parameters before the safety control mode is activated.
In the case at hand, the term “medical parameters” is understood to mean, in particular, parameters that parametrize a degree of injury, a degree of pain sensation, a degree of damage and/or another degree of risk.
In the case at hand, the term “robot manipulator” is understood to mean a part of a mechanical robot, which enables the physical interaction of the robot with the environment, that is to say the moving part of a robot, which performs the mechanical work of the robot. The term “robot manipulator” also includes, in particular, one or more effectors of the robot manipulator that are present, as well as, if applicable, an object gripped by the robot manipulator. In the case at hand, the term “robot” is understood in the broad sense. It includes, for example, industrial robots, humanoids, robots capable of flight or capable of swimming.
In the case at hand, the term “force” or “force-time curve” is understood in the broad sense. In addition to simply directed forces, it also includes anti-parallel force pairs and forces or force actions that can be represented, i.e., in particular also torques and, moreover, variables derived from such forces or force actions, such as, for example, pressure (force/area), etc. In the case at hand, the detected force {right arrow over (F)}(t) relates advantageously not to the force of gravity and not to the Coriolis force generated by the rotation of the earth.
The term “value of the force {right arrow over (F)}(t)” includes any metric.
The sensor is advantageously a force sensor, a moment sensor, for example, a torque sensor. Advantageously, the robot manipulator includes several such sensors, in order to detect an external force acting on the robot manipulator with sufficient resolution relative to the point of attack of the force and the value and direction thereof. In an advantageous development, the formulation “an external force {right arrow over (F)}(t) acting on the robot manipulator” implies that, in addition to the direction and the value of the external force {right arrow over (F)}(t), a point of attack of the force {right arrow over (F)}(t) on the robot manipulator is also known or determined.
The proposed method is based on the fact that the robot manipulator is open-loop controlled in principle depending on medical parameters, as described, for example, in the cited DE 102013212887 A1. The disclosure content of DE 102013212887 A1 concerning injury parameters as well as the determination and advantageous establishment thereof is explicitly included in the present disclosure content.
According to the invention, by using the at least one sensor, an external force {right arrow over (F)}(t) acting on the robot manipulator is detected, and a force-time curve is determined and stored at least temporarily. As soon as a value |{right arrow over (F)}(t)| of the detected external force {right arrow over (F)}(t) on the robot manipulator is greater than a defined threshold value G1: |{right arrow over (F)}(t)|>G1, the safety mode for open-loop/closed-loop control of the robot manipulator is activated. In an alternative, the determination or provision of the force-time curve can also occur by an estimation of the external forces based on a closed-loop control technological model of the robot manipulator or even a model-free estimation. In the case at hand, the term “sensor” should be understood in the broad sense. It also includes a closed-loop control technological model or an estimation, on the basis of which a reconstruction of the external force {right arrow over (F)}(t) can occur.
In an advantageous development, the threshold value G1 is equal to zero, i.e., G1=0, so that the safety mode is activated immediately as soon as a force {right arrow over (F)}(t) which, as the case may be, is above a sensor noise level or above the model inaccuracies is measured/estimated by the sensor.
The safety mode is characterized in that the movement speed |{right arrow over (V)}(t)| and/or the movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| is/are open-loop/closed-loop controlled depending on the detected external force, i.e., force vector {right arrow over (F)}(t). In the case at hand, this means that the open-loop/closed-loop control of the robot manipulator is advantageously based on a speed and/or torque closed-loop control, in which the movement speed |{right arrow over (V)}(t)| and/or the movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| of the robot manipulator is/are open-loop/closed-loop controlled only depending on predetermined medical parameters. As soon as the safety mode is activated, in other words, for example, there is a switch from the previously activated speed open-loop control to a force or torque open-loop/closed-loop control of the robot manipulator, in which the movement of the robot manipulator is open-loop/closed-loop controlled depending on the external force {right arrow over (F)}(t) detected by the sensor.
As a result, it is possible, in particular, to detect situations in which a squeezing of an object by the robot manipulator occurs because the object cannot get out of the way and the movement of the robot manipulator manifests itself in a continuously increasing force action, and to convert these situations into a corresponding open-loop/closed-loop control of the robot manipulator.
In a development, in the safety mode, actuators of the robot manipulator are open-looped controlled depending on the detected external force {right arrow over (F)}(t). Advantageously, the torques generated by the actuators are limited depending on the detected external force {right arrow over (F)}(t). Advantageously, the robot manipulator includes one or more articulations, wherein, in an advantageous development, at least one articulation angle of the articulations is limited depending on the detected external force {right arrow over (F)}(t).
A development of the proposed method is characterized in that a time span Δt1 is determined, which indicates the time span from the time when the threshold value G1 is exceeded at time t0 to the time when a subsequent first maximum Max1(|{right arrow over (F)}(t)|) of the force-time curve of external force {right arrow over (F)}(t) at time t1 is reached, further in that a time span Δt2 is determined, which indicates the time span from t1 to the time when a subsequent first minimum Min1(|{right arrow over (F)}(t)|) of the force-time curve of the external force {right arrow over (F)}(t) at time t2 is reached, and in that the safety mode is activated only when: Δt1+Δt2=ΔtG<G2 and/or Max1(|{right arrow over (F)}(t)|)>G3, wherein G2 and G3 are defined threshold values.
These method steps are used for the analysis of the force-time curve of the external force acting on the robot manipulator. Typically, in the case of a collision of the robot manipulator with an object, first a force impact is generated, wherein, depending on the type of the collision and the collision speed, a first value maximum Max1(|{right arrow over (F)}(t)|) of the external force {right arrow over (F)}(t) can be reached within a few milliseconds (Δt1˜0.1 ms to 50 ms). Thereafter, the value |{right arrow over (F)}(t)| of the external force {right arrow over (F)}(t) typically decreases. Depending on whether the collision with the object represents a resilient impact, a nonresilient impact, a resilient or plastic deformation of the object or of the robot manipulator, there results a different time curve of the external force {right arrow over (F)}(t) after the first force impact. In the case of a situation in which, after the occurrence of a first force impact, i.e., after the pass through a first maximum Max1(|{right arrow over (F)}(t)|) and a subsequent first minimum Min1(|{right arrow over (F)}(t)|), the external force {right arrow over (F)}(t) detected by the sensor increases continuously, then this typically means that there is a squeezing of the object, i.e., a situation in which the (collision) object is no longer able to get out of the way of the movement of the robot manipulator, and the robot can transfer the force from the drives thereof to the clamped body. By an appropriate selection of the threshold values G2 and G3, the method can be adapted for the detection of such situations.
Advantageously, if, for a time t>t2, the value |{right arrow over (F)}(t)| of the external force {right arrow over (F)}(t) exceeds a defined threshold value G4: |{right arrow over (F)}(t)|>G4, an actual movement of the robot manipulator is stopped.
Advantageously, if, for a time t>t2, the value |{right arrow over (F)}(t)| of the external force {right arrow over (F)}(t) exceeds a defined threshold value G4: |{right arrow over (F)}(t)|>G4, a gravitation compensation or a compliance control is carried out, in which the robot manipulator is open-loop or closed-loop controlled in such a manner that only the force of gravity is compensated, and any additional externally applied force leads to the robot manipulator moving away in a compliant manner.
This prevents injuries and/or damage to the collision object or the robot manipulator.
Moreover, after the above-described stopping, the previous movement of the robot manipulator is advantageously carried out in a reverse direction until a value |{right arrow over (F)}(t)| of the external force {right arrow over (F)}(t) is less a threshold value G5: |{right arrow over (F)}(t)|<G5, wherein a stopping occurs again. G5 here is a defined threshold value, which, in an advantageous method variant, is selected to be equal to zero, i.e., G5=0.
Naturally, the proposed method can also be used in the context of an off-line analysis or a planning of an open-loop/closed-loop control of a robot manipulator. In this case, the detection of the external force {right arrow over (F)}(t) is replaced by corresponding specifications in a force-time curve. Moreover, the robot manipulator is also replaced by a corresponding model that can be virtually open-loop/closed-loop controlled. In particular, the proposed method can advantageously be optimized and tested in a virtual application.
The invention further relates to a computer system with a data processing device, wherein the data processing device is designed so that a method, as described above, is carried out on the data processing device.
The invention further relates to a digital storage medium with electronically readable control signals, wherein the control signals can interact in such a way with a programmable computer system that a method, as described above, is carried out.
The invention further relates to a computer program product with a program code stored on a machine-readable medium for carrying out the method, as described above, when the program code is executed on a data processing device.
The invention further relates to a computer program with program codes for carrying out the method, as described above, when the program is run on a data processing device.
The invention further relates to a device for open-loop/closed-loop control of a robot manipulator, including a sensor which detects an external force {right arrow over (F)}(t) acting on the robot manipulator, and a control unit which is designed and configured in such a manner that a force-time curve is determined and a movement speed |{right arrow over (V)}(t)| and/or a movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| of the robot manipulator is/are open-loop/closed-loop controlled depending on predetermined medical parameters, and which moreover is designed and configured in such a manner that, if the value |{right arrow over (F)}(t)| of the detected external force {right arrow over (F)}(t) is greater than a defined threshold value G1: |{right arrow over (F)}(t)|>G1, a safety mode of the robot manipulator is activated, which open-loop/closed-loop controls the movement speed |{right arrow over (V)}(t)| and/or the movement direction {right arrow over (V)}(t)/|{right arrow over (V)}(t)| depending on the detected external force {right arrow over (F)}(t).
An advantageous development of the proposed device is characterized in that the control unit is moreover implemented and configured in such a manner that a time span Δt1 is determined, which indicates the time span from the time when the threshold value G1 was exceeded at time t0 to the time when a subsequent first maximum Max1(|{right arrow over (F)}(t)|) of the force {right arrow over (F)}(t) is reached at time t1, a time Δt2 is determined which indicates a time span from t1 until the subsequent first minimum Min1(|{right arrow over (F)}(t)|) of the external force {right arrow over (F)}(t) is reached at time t2, and the safety module is activated only when: Δt1+Δt2=ΔtG<G2 and/or Max1(|{right arrow over (F)}(t)|)<G3, wherein G2 and G3 are defined threshold values.
An advantageous development of the proposed device is characterized in that the control unit is moreover designed and configured so that, if, for a time t>t2, the value |{right arrow over (F)}(t)| of the force {right arrow over (F)}(t) exceeds a defined threshold value G4: |{right arrow over (F)}(t)|>G4, a current movement of the robot manipulator is stopped.
An advantageous development of the proposed device is characterized in that the control unit is designed and configured in such a manner that, after the stopping, the previous movement of the robot manipulator is carried out in a reverse direction, until: |{right arrow over (F)}(t)|<G5, and then the movement of the robot manipulator is stopped again, wherein G5 is a defined threshold value.
Advantages and additional developments of the proposed device result from an analogous and/or appropriate transfer of the explanation provided in connection with the proposed method.
Finally, the invention relates to a robot with a device as described above.
Additional advantages, features and details result from the subsequent description, in which—if applicable in reference to the drawings—at least one embodiment example is described in detail. Identical, similar, and/or functionally equivalent parts are provided with identical reference numerals.
In the drawings:
In
Due to the spatial immobilization of the arm, for example, the arm is arranged between the robot manipulator and a wall, the arm is squeezed by the further movement of the robot manipulator, which manifests itself in the still rising force for a time greater than t2.
In
In
In
In
In
Although the invention is illustrated and explained in greater detail by using preferred example embodiments, the invention is not limited to the disclosed examples and other variations can also be derived therefrom by the person skilled in the art, without leaving the scope of protection of the invention. Therefore, it is clear that there are numerous possible variations. It is also clear that embodiments mentioned as examples really represent only examples which in no way should be conceived of as a limitation of, for example, the scope of protection, of the possible applications, or of the configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to concretely implement the example embodiments, wherein the person skilled in the art, having learned the disclosed inventive thought, can make numerous changes, for example, with regard to the function of the arrangement, to an example embodiment of mentioned elements, without leaving the scope of protection which is defined by the claims and their legal equivalents such as, for example, a more detailed explanation in the description.
List of Reference Numerals
100 Force-time curve
101-106 Method steps
200 Robot
201 Control unit for open-loop/closed-loop control
202 Robot manipulator
203 Sensor
204 Device
205 Articulation
206 Actuator
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2014 114 234 | Sep 2014 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/DE2015/100404 | 9/28/2015 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2016/050238 | 4/7/2016 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20100324733 | Bischoff et al. | Dec 2010 | A1 |
| 20110036188 | Fujioka | Feb 2011 | A1 |
| 20110184558 | Jacob et al. | Jul 2011 | A1 |
| 20130304258 | Taylor et al. | Nov 2013 | A1 |
| 20140025197 | Mattern et al. | Jan 2014 | A1 |
| 20140052150 | Taylor et al. | Feb 2014 | A1 |
| 20150239124 | Haddadin et al. | Aug 2015 | A1 |
| 20160107315 | Klumpp et al. | Apr 2016 | A1 |
| Number | Date | Country |
|---|---|---|
| 102007063099 | Jul 2009 | DE |
| 102008041602 | Mar 2010 | DE |
| 102009058607 | Jun 2011 | DE |
| 102010048369 | Apr 2012 | DE |
| 102012015975 | Mar 2013 | DE |
| 102012015975 | Mar 2013 | DE |
| 102012012988 | Apr 2014 | DE |
| 102013212887 | Apr 2014 | DE |
| 1046470 | Oct 2000 | EP |
| 2388111 | Nov 2011 | EP |
| 2010-052079 | Mar 2010 | JP |
| WO 2014036549 | Mar 2014 | WO |
| Entry |
|---|
| Haddadin, Sami, “Towards Safe Robots: Approaching Asimov's 1st Law”, Oct. 12, 2011, pp. 42-45, XP055250770. |
| English translation of the International Preliminary Report on Patentability issued in International Application No. PCT/DE2015/100404 on Apr. 4, 2017. |
| Number | Date | Country | |
|---|---|---|---|
| 20170239815 A1 | Aug 2017 | US |
