The invention relates to a method and to a device for producing a robot with a robotic arm. Said method can be carried out using an assembly robot wherein first housing segments are arranged in an intended sequence for the robotic arm, drive units are inserted into the first housing segments and the respective complimentary second housing segments are placed on the first housing segments comprising the drive units.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A robot system including at least one robot arm and a control unit which is designed such that it can pre-set at least one pre-defined operation carried out by the robot system. The robot system also includes a display device and at least one input device applied to the robot arm, which is designed such that the sequence of operations of the robot system is set and/or the pre-defined operations of the robot system is parameterized by means of the input device, and which is also designed such that it allows the user to control, on a graphic user interface, represented by the control unit on the display device, the setting of the pre-defined operations of the robot system, the setting of the sequence of operations and/or the parameterization of the pre-defined operations for the robot system.
B25J 13/06 - Postes de commande, p. ex. pupitres, tableaux de contrôle
G05B 19/409 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de l'entrée manuelle des données [MDI] ou par l'utilisation d'un panneau de commande, p. ex. commande de fonctions avec le panneauCommande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par les détails du panneau de commande ou par la fixation de paramètres
G05B 19/425 - Apprentissage de positions successives par commande numérique, c.-à-d. des commandes étant introduites pour commander l'asservissement en position de la tête porte-outil ou de l'effecteur de bout de bras
A robot arm permitting a more sensitive and precise operation in the offline programming of a robot having a robot arm with a number of arm components, which can be connected to a robot body via a number of actuator-drivable joint connections.
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
G06F 15/00 - Calculateurs numériques en généralÉquipement de traitement de données en général
C12Q 1/6886 - Produits d’acides nucléiques utilisés dans l’analyse d’acides nucléiques, p. ex. amorces ou sondes pour les maladies provoquées par des altérations du matériel génétique pour le cancer
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
A method and device for the open-loop/closed-loop control of a robot joint that is driven by an electric motor are provided, wherein the robot joint has a current sensor that comprises first sensor electronics for detecting a first operating current of the electric motor, a first position sensor for detecting a drive position of a drive train of the robot joint, a second position sensor for defecting an output position of an output train of the robot joint, and a first torque sensor for detecting a torque in the output train, wherein the electric motor is controlled by open-loop/closed-loop control on the basis of a pre-determined target control variable. The method comprises: providing measured values; checking for the presence of a fault by the first fault detector when the measured values and/or time derivatives thereof fail to satisfy first threshold values; and checking for a fault with further fault detectors.
k; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.
The present invention relates to a method and to a device for defining a movement sequence for a multi-axis manipulator (M) of a robot system, which manipulator (M) has a plurality of elements (G) which form different rotational axes, and an end element for interaction with an effector (E), wherein the effector (E) is intended to carry out at least one arbitrary operation in a working space (R), and wherein in order to carry out the at least one arbitrary operation the end element of the manipulator (M) is to be transferred into an arbitrary target pose (xi) with respect to the working space (R), wherein the manipulator (M) moves in a plurality of steps (Si;Sj) to the target pose (xi) while approaching the end element, and for each step (Si; Sj) at least one defined impedance pattern (Kx) and/or admittance pattern is defined with respect to at least one axis (AA;AG;AE;AR) which forms the axis (AA;AG;AE;AR) of a coordinate system (CA;CG;CE;CR) which is linked to the manipulator (M).
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
The present invention relates to a mobile robot having a base element (1) and a torso (2) being arranged on the mobile base element (1), the torso(2)comprising at least two manipulators(4), which comprise a proximal base (6) and a distal free end (7), wherein the manipulators(4) with their proximal base(6) are arranged to both sides of the torso (2) and opposite to each other and wherein the proximal base(6) of the manipulators(4) is moveably guided in the torso (2).
The invention relates to a method and to a device for producing a robot (R) with a robotic arm (2). Said method can be carried out using an assembly robot (M1;M2) wherein first housing segments (7) are arranged in an intended sequence for the robotic arm (2), drive units (9) are inserted into the first housing segments (7) and the respective complimentary second housing segments (12) are placed on the first housing segments (7) comprising the drive units (9).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
13.
EFFECTOR UNIT FOR A ROBOT, WORK IMPLEMENT COMPRISING A ROBOT, AND METHOD FOR REPLACING AN EFFECTOR IN ROBOTS
The invention relates to an effector unit (1) for a robot that can be locked and unlocked by a relative movement of the robot so that multiple effectors (3) can be used in the effector unit (1). The invention further relates to a corresponding method for automatically replacing effectors.
B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
F16B 2/02 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif
F16M 11/04 - Moyens pour la fixation des appareilsMoyens permettant le réglage des appareils par rapport au banc
F16M 13/02 - Autres supports ou appuis pour positionner les appareils ou les objetsMoyens pour maintenir en position les appareils ou objets tenus à la main pour être portés par un autre objet ou lui être fixé, p. ex. à un arbre, une grille, un châssis de fenêtre, une bicyclette
14.
Method and device for open-loop/closed-loop control of a robot manipulator
The invention relates to a device and a method of controlling a robot manipulator, which includes a sensor for detecting an external force during an interaction of the robot manipulator with an environment. The proposed method is characterized in that a force-time curve is determined for the external force acting on the robot manipulator detected by the sensor, and, if the value of the detected external force is higher than a defined threshold value, a safety mode of the robot manipulator is activated, which controls a movement speed and/or a movement direction depending on the detected external force, wherein the movement speed and/or the movement direction of the robot manipulator is/are controlled depending on predetermined medical injury parameters before the safety mode is activated.
The invention relates to a robot arm with a number N of arm elements An which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n = 1, 2,..., N; wherein the proximal end of the distal arm element AN of the robot arm is connected to the arm element AN-1 via the joint connection GVN; the proximal end of the proximal arm element can be connected to the robot body via the joint connection GV1; the joint connection GVN allows a rotation of the arm element AN about a rotational axis DN, the arm element AN of the robot arm extends along an axis L1, and the axis L1 and the rotational axis DN form an angle of 50 to 130°; the distal end of the arm element AN can be connected to an effector E via an actuator-drivable joint connection GVN+1; the joint connection GVN+1 allows a rotation of the effector E about a rotational axis N+1; the rotational axes DN and DN+1 form an angle W1 ranging from 50 to 130°; the rotational axis DN+1 and the axis L1 form an angle W2 ranging from 50 to 130°; the arm element AN has a grip-like protrusion F1 which is rigidly connected to the arm element and which extends concentrically to the rotational axis DN+1; a free end FE of the protrusion F1 can be rotated relative to the rest of the protrusion F1 about the rotational axis DN+1 or can be arranged so as to be rotatable about the rotational axis DN+1; and the free end FE has input elements EE for manually entering data. The proposed robot arm allows an improved ergonomic operation during a learning programming process of a robot comprising such a robot arm.
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
The invention relates to a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n = 1, 2, ..., N, wherein: the distal arm component AN of the robot arm is connected by it's proximal end to the arm component AN-1 via the joint connection GVN; the proximal arm component can be connected by its proximal end to the robot body via the joint connection GV1; the joint connection GVN permits a rotation of the arm component AN about a rotational axis DN; the arm component AN of the robot arm extends along an axis L1 and the axis L1 encloses an angle of between 50° and 130° with the rotational axis DN; the distal end of the arm component AN can be connected to an actuator E via an actuator-drivable joint connection GVN+1, wherein the joint connection GVN+1 permits a rotation of the actuator E about a rotational axis DN+1, wherein the the rotational axes DN and DN+1 enclose an angle W1 in the region of 50° to 130°; the rotational axis DN+1 and the axis L1 enclose an angle W2 in the region of 50° to 130°; and a protrusion F2 is formed on the actuator E or on an intermediate part ZW arranged between the joint connection GVN+1 and the actuator E, which protrusion extends perpendicular to the rotational axis DN+1, can be gripped by a hand and is also rigidly connected. The robot arm according to the invention permits a more sensitive and precise operation in the offline programming of a robot having a robot arm of this type.
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
The invention relates to a robot system comprising at least one robot arm and a control unit which is designed such that it can pre-set at least one pre-defined operation that can be carried out by the robot system. The robot system also comprises a display device and at least one input device applied to the robot arm, which is designed such that the sequence of operations of the robot system can be set and/or the pre-defined operations of the robot system can be parameterised by means of the input device, and which is also designed such that it allows the user to control, on a graphic user interface, represented by the control unit on the display device, the setting of the pre-defined operations of the robot system, the setting of the sequence of operations and/or the parameterisation of the pre-defined operations for the robot system.
G05B 19/409 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de l'entrée manuelle des données [MDI] ou par l'utilisation d'un panneau de commande, p. ex. commande de fonctions avec le panneauCommande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par les détails du panneau de commande ou par la fixation de paramètres
G05B 19/425 - Apprentissage de positions successives par commande numérique, c.-à-d. des commandes étant introduites pour commander l'asservissement en position de la tête porte-outil ou de l'effecteur de bout de bras
B25J 13/06 - Postes de commande, p. ex. pupitres, tableaux de contrôle
18.
Method and arrangement for reducing the torque ripple of a DC motor
A method and arrangement for reducing the torque ripple of a brushless DC motor having a stator, a rotor, and a motor control unit, via which motor control unit the motor is controlled in a polyphase manner, having a data memory for storing rotational angle-dependent correction data of the control current of the motor, which are impressed on the instantaneous values for controlling the motor. In a first step, for each position of the rotor, the phase currents holding the rotor in this position are determined and are used to derive reference current data, which is stored in a table of the data memory together with the respective position data of the rotor, determined by the position sensor. In a second step, during continuous operation of the motor, the position-dependent reference current data stored in the data memory is combined with the control current of the motor.
H02P 21/00 - Dispositions ou procédés pour la commande de machines électriques par commande par vecteur, p. ex. par commande de l’orientation du champ
H02P 6/10 - Dispositions pour commander l'ondulation du couple, p. ex. en assurant une ondulation réduite du couple
H02P 21/22 - Commande du courant, p. ex. en utilisant une boucle de commande
H02P 27/08 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par le type de tension d'alimentation utilisant une tension d’alimentation à fréquence variable, p. ex. tension d’alimentation d’onduleurs ou de convertisseurs utilisant des convertisseurs de courant continu en courant alternatif ou des onduleurs avec modulation de largeur d'impulsions
19.
METHOD AND DEVICE FOR OPEN-LOOP/CLOSED-LOOP CONTROL OF AN ACTUATOR-DRIVEN ROBOT JOINT
The invention relates to a method and a device for the open-loop/closed-loop control of a robot joint driven by an electric motor, the robot joint having: a current sensor with a first sensor electronics system for detecting a first operating current ik,1 (t)of the electric motor, where k = 1, 2,...; a first position sensor for detecting an input positionθ m (t) of a power train of the robot joint; a second position sensor for detecting a power take-off position q(t) of a power take-off train of the robot joint and a first torque sensor for detecting a torqueτ J ,l(t) in the power take-off train, the electric motor being open-loop/closed-loop controlled on the basis of a predefined target manipulated variable zm(t). The method disclosed comprises the following steps: provision*(101) of the measured values θ m (t),i k, l(t),τ J (t),q(t), checking (102) for the presence of a fault by the first fault detector, which detects the presence of a fault if the measured valuesθ m (t),i k, l(t),τ J (t),q(t) and/or their time derivatives do not fulfil predefined first limit value conditions, and checking (103) for the presence of a fault by additional fault detectors.
DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E.V. (Allemagne)
KASTANIENBAUM GMBH (Allemagne)
Inventeur(s)
Haddadin, Sami
Mansfeld, Nico
Abrégé
The invention relates to a method and device for controlling and regulating motors MOTm of a robot, with m = 1, 2, …M, wherein the robot has robot components that are interconnected via a number N of articulated connections GELn, the joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm; Z(tk) is a state of the robot components in an interval tk; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components. In the first system of motion equations BGG, um(tk) is a manipulated variable for the respective motor MOTm. For the first system of coupled motion equations BGG, restrictions of the manipulated variables um(tk) and restrictions of the states Z(tk) of the connected robot components are predetermined. The method comprises the following steps: for the first system of coupled motion equations BGG, providing (101) a second system of locally equivalent decoupled motion equations BGE that describes the rigid-body dynamics or the flexible-body dynamics of the connected robot components; providing (102) restrictions of the manipulated variables um(tk) transformed into the second system and providing restrictions of the states Z(tk) transformed into the second system; providing (103) the state Z(tk) transformed into the second system as Z*(tk); for the second system of decoupled motion equations BGE, setting (104) a target state SZ* of the robot manipulator which is to be reached starting from the state Z*(tk), and setting (104) one or more conditions BD* and/or one or more characteristics KZ* that define how to achieve the target state SZ*; in the second system of decoupled motion equations BGE, predicting (105) a state trajectory ZT*(t) and the associated manipulated variable trajectories uT*m(t) depending on the state Z*(tk) and the target state SZ* while meeting the conditions BD*, the characteristics KZ*, the transformed restrictions of the manipulated variables um(tk), and the transformed restrictions of the states Z(tk) for an interval of t = tk to t = tk+W, wherein ∆t = tk+W – tk is a predetermined prediction interval; transforming (106) the manipulated variable trajectories uT*m(t) and the state trajectories ZT*(t) into the first system of coupled motion equations BGG to generate manipulated variable trajectories uTm**(t) and state trajectories ZT**(t); from the manipulated variable trajectories uTm**(t), determining (107) manipulated variables um(tk+1) for the interval k+1 and regulating the motors MOTm by means of the manipulated variables um(tk+1); from the state trajectories ZT**(t) and/or on the basis of sensor data of a detection system of the state Z(t), determining (108) the state Z(tk+1) for the interval k+1; and for Z(tk) = Z(tk+1), performing again the method, starting with step (103), until a predetermined break-off criterion or the target state SZ* is reached.
The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator which is driven by a number M of actuators ACTm and has an end effector. The invention comprises a first unit (101) which registers and/or makes available an external force winder formula (I) acting on the end effector, a regulator (102) which is connected to the first unit (101) and to the actuators ACTm and which comprises a first regulator R1, which is a force regulator, and a second regulator R2 which is connected thereto and which is an impedance regulator, an admittance regulator, a position regulator or a cruise controller, wherein the regulator (102) determines manipulated variables um(t) with which the actuators ACTm can be actuated in such way that when contact occurs with the surface of an object, the end effector acts on said object with a predefined force winder formula (II); where um(t) = um , R 1(t) + um ,R2(t), wherein the first regulator R1 is embodied and configured in such a way that the manipulated variable um,R1(t) is determined as a product of a manipulated variable um,R1(t)* and a function S(v(t)) or as a function S*(v(t), um,R1(t)*), where um,R1(t) = S(v(t)) um,R1(t)* oder um,R1(t) = S*(v*(t), um,R1(t)*); Formula (III)
The invention relates to a device and a method for the open-loop / closed-loop control of a robot manipulator (202) which comprises a sensor (203) for detecting an interaction with an environment. The method according to the invention is characterized in that the sensor (203) detects a force-time curve of an external force (I) acting upon the robot manipulator (202). If the value of the detected force (II) is higher than a defined threshold value G1: (II) > G1, a safety mode of the robot manipulator (202) is activated and controls a movement speed (III) and/or a movement direction (IV) depending on the detected force (I), the movement speed (III) and/or the movement direction (IV) of the robot manipulator (202) being regulated by an open-loop / closed-loop control depending on predetermined medical injury parameters before the safety mode is activated.
The invention relates to a method and to an arrangement for reducing the torque ripple of a brushless DC motor (6) having a stator, a rotor, and a motor control unit, via which motor control unit the motor is controlled in a polyphase manner, having a data memory (1) for storing rotational angle-dependent correction data of the control current of the motor (6), which are impressed on the instantaneous values for controlling the motor. According to the invention, in a first step, for each position of the rotor, the phase currents holding the rotor in this position are determined and are used to derive reference current data, which is stored in a table of the data memory (19) together with the respective position data of the rotor, determined by the position sensor, and, in a second step, during continuous operation of the motor, the position-dependent reference current data stored in the data memory is combined with the control current of the motor. In a preferred refinement of the invention, the reference current data is conditioned in such a way that both outliers and noise are removed.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools for treatment of materials and for manufacturing; Robots; Engines, powertrains, and generic machine parts. Scientific research and laboratory apparatus, educational apparatus and simulators; Apparatus, instruments and cables for electricity; Recorded content; Devices for treatment using electricity; Information technology and audiovisual equipment; Magnets, magnetizers and demagnetizers; Measuring, detecting and monitoring instruments, indicators and controllers; Optical devices, enhancers and correctors; Safety, security, protection and signalling devices. IT services; Science and technology services.
09 - Appareils et instruments scientifiques et électriques
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Machines and machine tools for treatment of materials and for manufacturing; Robots. Scientific research and laboratory apparatus, educational apparatus and simulators; Apparatus, instruments and cables for electricity; Recorded content; Devices for treatment using electricity; Information technology and audiovisual equipment; Magnets, magnetizers and demagnetizers; Measuring, detecting and monitoring instruments, indicators and controllers; Optical devices, enhancers and correctors; Safety, security, protection and signalling devices. Education, entertainment and sports.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robots; Machines and machine tools for treatment of materials and for manufacturing. Scientific research and laboratory apparatus, educational apparatus and simulators; Apparatus, instruments and cables for electricity; Recorded content; Devices for treatment using electricity; Information technology and audiovisual equipment; Magnets, magnetizers and demagnetizers; Measuring, detecting and monitoring instruments, indicators and controllers; Safety, security, protection and signalling devices; Optical devices, enhancers and correctors; Software. IT services; Science and technology services.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robots. Measuring, detecting and monitoring instruments, indicators and controllers; Robotic electrical control apparatus. Science and technology services.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines and machine tools; Robotics apparatus; Assistance systems; automated machines. Software for machines, machine tools, robots, assistance systems and automated machines. Scientific and technological services and research and design relating thereto; Industrial analysis and research services; Design and development of software for machines, machine tools, robots, assistance systems and automated machines.
