Method for determining values influencing the movement of a robot

Patent metadata

Field	Value
Publication number	US-10155312-B2
Application number	US-201515313362-A
Country	US
Kind code	B2
Filing date	May 9, 2015
Priority date	May 23, 2014
Publication date	Dec 18, 2018
Grant date	Dec 18, 2018

Abstract

A method for determining values influencing movement of a robot is disclosed. The method includes the following steps: a) provision of a task to be performed by the robot and a worker; b) provision of a layout of a workstation; c) provision of tool data; d) determination of respective axial movement patterns of the robot on the basis of steps a) to c); e) provision of a worker workspace; f) determination of critical path points of the robot, where a specified movement speed is exceeded by the robot and/or a specified mass of an element to be moved by the robot is exceeded, on the basis of the axial movement patterns and the workspace; g) simulation of respective collisions at the critical path points by a second robot; and h) determination of permissible operating speeds of the robot for each critical path point on the basis of the simulated collisions.

First claim

The invention claimed is:

1. A method for determining values influencing a movement of a robot, comprising the steps of:
a) providing a task to be performed by a first robot and a worker;
b) providing a layout of a workstation in which the task is to be performed;
c) providing tool data that characterize a tool to be used by the first robot in performing the task;
d) determining axial movement patterns, which are required for performing the task, of the first robot on a basis of information provided in steps a) to c);
e) providing a workspace of the worker;
f) determining critical path points of the first robot where a specified movement speed is exceeded by the first robot and/or a specified mass of an element to be moved by the first robot is exceeded on a basis of the determined axial movement patterns and the workspace;
g) simulating, via a second robot coupled with the first robot, respective collisions of the first robot at the critical path points; and
h) determining permissible operating speeds of the first robot for any given path point on a basis of the simulated respective collisions.

2. The method according to claim 1 , wherein an enveloping space that surrounds the tool is established on a basis of the tool data.

3. The method according to claim 1 , wherein the axial movement patterns are determined by a simulation or a measurement.

4. The method according to claim 1 , wherein potential crushing or pinning sites where respective minimum distances between the workstation and the first robot are not maintained are determined on a basis of the axial movement patterns.

5. The method according to claim 1 , wherein a temporal progression of reflected masses of the first robot is determined from actual robot impacts.

6. The method according to claim 1 , wherein the simulated respective collisions are iteratively repeated with different operating speeds by a pendulum and a load cell until corresponding collision forces, collision pressures, and surface pressures no longer reach respective thresholds for the critical path points.

7. The method according to claim 1 , wherein for the step of simulating the respective collisions, the second robot simulates corresponding impact directions and resistances for the critical path points.

8. The method according to claim 1 , wherein for the step of simulating the respective collisions, the second robot is equipped with a force measurement system.

9. The method according to claim 1 , wherein parameters of impact speed, impact mass and/or contact geometry of the first robot are modified in an automatic iterative process until respective specified limit values are no longer reached.

10. The method according to claim 1 , wherein the critical path points are within the workspace of the worker.

11. The method according to claim 1 further comprising the step of:
i) operating the first robot in accordance with the determined permissible operating speeds in performing the task.

Assignees

• Daimler Ag

Inventors

• Feldmann Anton
• GUERTLER Alexander
• Klumpp Simon
• Klumpp Willi
• Reichenbach Matthias
• Schreiber Matthias
• Zuern Michael

Classifications

• G05B2219/40317

  For collision avoidance and detection · CPC title

• G05B2219/40203

  Detect position of operator, create non material barrier to protect operator · CPC title

• G05B2219/40202

  Human robot coexistence · CPC title

• G05B2219/40476

  Collision, planning for collision free path · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title