Method and means for handling an object

Patent metadata

Field	Value
Publication number	US-10300602-B2
Application number	US-201515302629-A
Country	US
Kind code	B2
Filing date	Apr 7, 2015
Priority date	Apr 7, 2014
Publication date	May 28, 2019
Grant date	May 28, 2019

Abstract

A method for handling an object comprises the steps:
a) connecting the object ( 1 ) with a manipulator ( 5 ) and with an input tool ( 7 ) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool ( 7 ) can be entered, d) initiating a test movement of the manipulator ( 5 ) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K); e) determining the direction ({right arrow over (r)}′) of a movement of the input tool ( 7 ) in the internal coordinate system (K′) resulting from the test movement of the manipulator ( 5 ); f) determining a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system into the known direction ({right arrow over (r)}) in the external coordinate system; g) detecting an internal direction ({right arrow over (d)}′) within the internal coordinate system (K′) entered by a user using the input tool ( 7 ); h) applying the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)}); and i) controlling a movement of the manipulator ( 5 ) on the basis of the external direction ({right arrow over (d)}).

First claim

The invention claimed is:

1. A method for handling an object comprising the steps of:
a) mechanically connecting the object which is to be handled ( 1 ) with a manipulator ( 5 ),
b) mechanically connecting the object which is to be handled ( 1 ) with an input tool ( 7 ) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool ( 7 ) is entered in any desired orientation in which the relation between the internal coordinate system (K′) and an external coordinate system (K) is unknown;
c) initiating (S 3 ) a test movement of the manipulator ( 5 ) by a control unit ( 6 ) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K);
d) determining (S 5 ), in the internal coordinate system (K′), the direction ({right arrow over (r)}′) of a movement of the input tool ( 7 ) resulting from the test movement of the manipulator ( 5 );
e) determining (S 6 ; S 13 ), on the basis of the known direction ({right arrow over (r)}) of the test movement and the direction of the resulting movement ({right arrow over (r)}′), a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system (K′) into the known direction ({right arrow over (r)}) in the external coordinate system (K);
f) detecting (S 7 ), within the internal coordinate system (K′), an internal direction ({right arrow over (d)}′) entered by a user using the input tool ( 7 );
g) applying (S 8 ) the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)}); and
h) controlling (S 9 ) a movement of the manipulator ( 5 ) on the basis of the external direction ({right arrow over (d)}).

2. The method according to claim 1 , in which the coordinate transformation (T) is updated when the movement of the manipulator ( 5 ) initiated in step h) comprises a rotation.

3. The method according to claim 1 , in which the test movement is a rotation, and wherein the known direction ({right arrow over (r)}) is a direction of an axis of the rotation.

4. The method according to claim 1 , in which the known direction ({right arrow over (r)}) is a horizontal direction.

5. The method according to claim 1 , characterised in that a direction of a force or of a torque acting between a head ( 9 ) and a base ( 8 ) of the input tool ( 7 ) or, if the head is configured to be moved relative to the base out of a neutral position, the direction of a movement of the head is detected as the entered internal direction ({right arrow over (d)}′).

6. The method according to claim 1 , in which the following steps are carried out between step a) and step b):
a′) detecting (S 7 ) an internal direction ({right arrow over (d)}′) entered by the user using the input tool;
a″) applying (S 8 ) a predetermined coordinate transformation (T n ) to the internal direction ({right arrow over (d)}′) in order to obtain the known direction ({right arrow over (d)}).

7. The method according to claim 6 , in which the predetermined coordinate transformation (T n ) is a coordinate transformation determined during an earlier iteration of the method.

8. The method according to claim 1 , in which a fault is detected when a movement of the input tool ( 7 ) is detected which is not caused through a movement of the manipulator ( 5 ) or no movement of the input tool ( 7 ) is detected in response to a movement of the manipulator ( 5 ).

9. An object handling system, comprising:
an object which is to be handled ( 1 ), wherein said object to be handled is mechanically connected with a manipulator ( 5 ) and to an input tool ( 7 ) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool ( 7 ) is entered in any desired orientation in which the relation between the internal coordinate system (K′) and an external coordinate system (K) is unknown; and
wherein said object handling system is configured for carrying out the method comprising the steps of:
a) initiating (S 3 ) a test movement of the manipulator ( 5 ) by a control unit ( 6 ) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K);
b) determining (S 5 ), in the internal coordinate system (K′), the direction ({right arrow over (r)}′) of a movement of the input tool ( 7 ) resulting from the test movement of the manipulator ( 5 );
c) determining (S 6 ; S 13 ), on the basis of the known direction ({right arrow over (r)}) of the test movement and the direction of the resulting movement ({right arrow over (r)}′), a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system (K′) into the known direction ({right arrow over (r)}) in the external coordinate system (K);
d) detecting (S 7 ), within the internal coordinate system (K′), an internal direction ({right arrow over (d)}′) entered by a user using the input tool ( 7 );
e) applying (S 8 ) the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)}); and
f) controlling (S 9 ) a movement of the manipulator ( 5 ) on the basis of the external direction ({right arrow over (d)}).

10. The object handling system according to claim 9 , further including an orientation sensor ( 16 ), wherein the orientation sensor ( 16 ) is an acceleration sensor, and wherein a detection result ({right arrow over (g)}′ o ,{right arrow over (g)}′ 1 ,{right arrow over (g)}′ 2 ) of the acceleration sensor quantitatively specifies at least the direction of an acceleration acting on the input tool in relation to an internal coordinate system (x′, y′, z′) of the input tool ( 7 ).

11. The object handling system according to claim 9 , characterised in that the input tool ( 7 ) and the control unit ( 6 ) are equipped with wireless interfaces ( 16 , 17 ) for mutual communication.

12. The object handling system according to claim 9 , characterised in that the manipulator is an end effector ( 5 ) of a robot arm ( 2 ) with articulated members ( 4 ).

13. The object handling system according to claim 9 , further including an input tool, and wherein the input tool includes a switch ( 19 ) which responds to the presence of a foreign body in a region of the environment surrounding the input tool.

14. The object handling system according to claim 13 , wherein the switch ( 19 ) is arranged on the base ( 8 ) of the input tool ( 7 ) and the region of the surrounding environment is located on a side ( 10 ) of the base ( 8 ) facing away from the head ( 9 ).

15. The object handling system according to claim 13 , characterised in that the switch ( 19 ) is configured for switching the object handling system between an idle state in which detection results of the orientation sensor ( 16 ) and/or of the input sensor ( 12 ) are not output and an active state in which the detection results are output.

16. A computer program product with program code which enables a computer to control an object handling system to which an object which is to be handled ( 1 ) is mechanically connected with a manipulator ( 5 ) and to which the object which is to be handled ( 1 ) is mechanically connected with an input tool ( 7 ) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool ( 7 ) is entered in any desired orientation in which the relation between th

Assignees

• Abb Gomtec Gmbh
• Abb Schweiz Ag

Inventors

• Schautt Martin
• Roberts Richard

Classifications

• G05B2219/36433

  Position assisted teaching · CPC title

• G05B19/423 Primary

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• Y10S901/41

  Tool · CPC title

• B65G47/902 Primary

  provided with drive systems incorporating rotary and rectilinear movements · CPC title

• B25J9/1692 Primary

  Calibration of manipulator · CPC title