Method and system for robotic adaptive production

Patent metadata

Field	Value
Publication number	US-2016346928-A1
Application number	US-201615169517-A
Country	US
Kind code	A1
Filing date	May 31, 2016
Priority date	May 29, 2015
Publication date	Dec 1, 2016
Grant date	—

Abstract

A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.

First claim

What is claimed is:

1 . A method for robotic adaptive production with at least one robot, comprising:
providing a control system with first program instructions operative to direct robotic performance of production activities in a production environment; providing the control system with second program instructions operative to detect a change in the production environment using a sensor, and to modify execution of the first program instructions in response to the change; operating the robot to perform the production activities during production using the first program instructions; detecting a change in the production environment using the second program instructions with input from the sensor; and the second program instructions modifying the first program instructions online to accommodate the change in the production environment while performing the production activities during production in response to detecting the change.

2 . The method of claim 1 , wherein the second program instructions modify the first program instructions to enable human-robot interactive tasks.

3 . The method of claim 1 , wherein the second program instructions modify the first program instructions to avoid a collision.

4 . The method of claim 1 , wherein the production environment includes a production line, and wherein the change in the production environment is a change in a configuration of a production line.

5 . The method of claim 4 , wherein the second program instructions modify the first program instructions to direct the robot to hand over a component to a human worker and/or a part feeder.

6 . The method of claim 4 , wherein the second program instructions modify the first program instructions to direct the robot to receive a component from a human worker and/or a part feeder.

7 . The method of claim 4 , wherein the change in configuration is the addition or removal of a human worker, a robot worker and/or production equipment.

8 . The method of claim 7 , wherein the change in environment is an object moving into a robotic working area; wherein the first program instructions are configured to direct a robot tool center point (TCP) to move in a direct path from a first position to a second position; and wherein, in response to detecting the object moving into the robotic working area, the second program instructions modify the first program instructions to direct the TCP to move from the first position to a third position to avoid a collision with the object, and then to move the TCP from the third position to the second position.

9 . The method of claim 7 , wherein the change in environment is an object moving into a robotic working area; wherein the first program instructions are configured to direct a robot tool center point (TCP) to move in a direct path from a first position to a second position; and wherein, in response to detecting the object moving into the robotic working area, the second program instructions modify the first program instructions to direct the TCP to move from the first position directly to the second position while changing the angle of a joint in a robot arm to avoid a collision with the object.

10 . The method of claim 1 , wherein the first program instructions are configured to direct the robot to assemble a part; wherein the change in production environment is the introduction of an incorrect part for an assembly; and wherein, in response to detecting that a part is the incorrect part for the assembly, the second program instructions modify the first program instructions to direct the robot to set the incorrect part aside.

11 . The method of claim 10 , wherein the second program instructions are configured to detect the introduction of the incorrect part based on a sensed contact force and/or a sensed torque.

12 . The method of claim 10 , wherein the second program instructions are configured to detect the introduction of the incorrect part based on a spring constant of the incorrect part.

13 . A method for robotic adaptive production with at least one robot, comprising:
providing a control system with first program instructions operative to direct robotic performance of production tasks in a production environment; providing the control system with second program instructions operative to modify the first program instructions; operating the robot to perform the production tasks during production using the first program instructions; and the second program instructions modifying the first program instructions online during production to minimize a production task cycle time or improve a production task quality.

14 . The method of claim 13 , further comprising sensing a robot final position after the performance of a production task, wherein, based on a relationship between a robot start position and the sensed robot final position, the second program instructions modify the first program instructions to modify the start position to achieve a shorter production task cycle time.

15 . A method for robotic adaptive production with at least one robot, comprising:
providing a control system with first program instructions operative to direct robotic performance of production tasks in a production environment based on a control parameter; providing the control system with second program instructions operative to modify the control parameter; operating the robot to perform the production tasks during production using the first program instructions; receiving sensor input from at least one sensor during the performance of the production tasks, wherein the sensor input relates to robotic performance; estimating a relationship between the control parameter and the sensor input; modifying the control parameter online during production to achieve an updated parameter based on the estimating; and operating the robot to perform the production tasks during production using the updated parameter.

16 . The method of claim 15 , further comprising determining whether robotic performance has improved based on using the updated parameter.

17 . The method of claim 16 , wherein the robotic performance is measured in terms of assembly cycle time and/or assembly success rate.

18 . The method of claim 15 , wherein the control parameter is gain and/or damping.

19 . The method of claim 15 wherein the sensor input is measured force, torque, speed and/or acceleration.

20 . The method of claim 15 , wherein the estimating and/or modifying are based on design of experiments, a genetic algorithm and/or a model based algorithm.

21 . A method for robotic adaptive production with at least one robot, comprising:
providing a control system with first program instructions operative to direct robotic performance of production tasks in a production environment based on a process parameter; providing the control system with second program instructions operative to modify the process parameter; operating the robot to perform the production tasks during production using the first program instructions; receiving sensor input from at least one sensor during the performance of the production tasks, wherein the sensor input relates to robotic performance; online optimizing the process parameter based on robotic performance while performing the production tasks; and operating the robot to perform the production tasks during production using the optimized parameter.

22 . The method of claim 21 , wherein the process parameter is contact force, rot

Assignees

• Abb Technology Ag

Inventors

• Zhang George Q
• Gravel David P
• Kock Soenke
• Fuhlbrigge Thomas A
• Chen Heping
• Choi Sangeun
• Bell Arnold
• Zhang Biao

Classifications

• Y10S901/02

  Arm motion controller · CPC title

• Y10S901/46

  Sensing device · CPC title

• Y10S901/47

  Optical · CPC title

• B25J9/1679 Primary

  characterised by the tasks executed · CPC title

• B25J9/1687 Primary

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title