Graphically supported adaptation of robot control programs

Patent metadata

Field	Value
Publication number	US-12330302-B2
Application number	US-202117797154-A
Country	US
Kind code	B2
Filing date	Feb 10, 2021
Priority date	Feb 14, 2020
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

Abstract

A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, wherein the control unit includes: an interactive operating unit to display a first adjustment element and a specified region for the first adjustment element, wherein the first adjustment element is moveable within the specified region via an input of a user, the interactive operating unit further to detect a user-specified position of the first adjustment element and transmit the user-specified position; and a computing unit to receive the user-specified position and ascertain weightings for a specified cost function as a function of the position, wherein a sum of the weightings is constant for all positions of the adjustment element, the computing unit further to ascertain the parameters of the control program and/or of the control system for the robot manipulator based on the cost function.

First claim

The invention claimed is:

1. A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, the control unit comprising:
an interactive operating unit configured to:
display a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit; and
detect a user-specified position of the first adjustment element and the second adjustment element within the specified region and to transmit the user-specified position of the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale; and

a computing unit configured to;
receive the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;
ascertain at least three weightings for a specified cost function as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element; and
ascertain the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.

2. The control unit according to claim 1 , wherein the computing unit is configured to ascertain the one or more parameters of the control program and/or of the control system for the robot manipulator by repeated adapted and learning-based performance of a task based on the cost function with the ascertained weightings.

3. The control unit according to claim 1 , wherein the computing unit is configured to ascertain the one parameter or more parameters of the control program and/or of the control system for the robot manipulator by minimizing a function value of the cost function with the ascertained weightings.

4. The control unit according to claim 1 , wherein the cost function has at least one of the following variables:
time necessary to perform a task by the robot manipulator;
energy consumption necessary to perform the task;
wear of the robot manipulator and/or of a workpiece during performance of the task;
forces and/or torques that act between an end effector of the robot manipulator and an object from an environment of the robot manipulator;
torques that occur in joints of the robot manipulator during performance of the task;
speeds of a reference point of the robot manipulator that occur during performance of the task;
accelerations of the reference point of the robot manipulator that occur during performance of the task; and
noise that occurs during performance of the task.

5. The control unit according to claim 1 , wherein the first adjustment element is moveable on a linear scale, wherein the computing unit is configured to ascertain at least two weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

6. The control unit according to claim 1 , wherein the specified region includes a limited plane, wherein the first adjustment element is moveable in the limited plane, wherein the computing unit is configured to ascertain at least three weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

7. The control unit according to claim 6 , wherein the limited plane is a polygon having vertices, wherein each of the vertices of the polygon is associated with a respective variable of the specified cost function, wherein a respective distance of the first adjustment element with respect to a respective vertex of the polygon determines a ratio between the respective weightings in accordance with the user-specified position of the first adjustment element.

8. The control unit according to claim 1 ,
wherein the interactive operating unit is configured to display a second adjustment element and the specified region for the first adjustment element and the second adjustment element so that the first adjustment element and the second adjustment are moveable within the specified region via the input of the user, wherein the interactive operating unit is further configured to detect a user-specified position of the first adjustment element and of the second adjustment element within the specified region and to transmit a respective user-specified position of a respective adjustment element to the computing unit;
wherein the computing unit is configured to receive the respective user-specified position of the respective adjustment element transmitted from the interactive operating unit, and further configured to ascertain at least three weightings for the specified cost function as a function of the respective user-specified position of the respective adjustment element relative to the specified region.

9. A method of ascertaining one or more parameters of a control program and/or of a control system for a robot manipulator by a control unit, the control unit comprising an interactive operating unit and a computing unit, the method comprising:
displaying a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, via an interactive operating unit, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit;
detecting a user-specified position of the first adjustment element and the second adjustment element within the specified region via the interactive operating unit and transmitting the user-specified position of the first adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale;
receiving via a computing unit the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;
ascertaining at least three weightings for a specified cost function via the computing unit as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element; and
ascertaining via the computing unit the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.

10. The method according to claim 9 , wherein the method comprises ascertaining via the computing unit the one or more parameters of the control program and/or of the control system for the robot manipulator by repeated adapted and learning-based performance of a task based on the cost function with the ascertained weightings.

11. The method according to claim 9 , wherein the method comprises ascertaining via the computing unit the one parameter or more parameters of the control program and/or of the control system for the robot manipulator by minimizing a function value of the c

Assignees

• Franka Emika Gmbh

Inventors

• Medina Hernandez Jose Ramon
• Spenninger Andreas

Classifications

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• G05B2219/39438

  Direct programming at the console · CPC title

• G05B2219/35507

  Spider, radar, parallel axes, multivariate plot · CPC title

• G05B19/409

  characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters (G05B19/408, G05B19/4093 take precedence) · CPC title

• B25J9/1605 Primary

  Simulation of manipulator lay-out, design, modelling of manipulator · CPC title