Control of A Robot

Patent metadata

Field	Value
Publication number	US-2017144302-A1
Application number	US-201615351778-A
Country	US
Kind code	A1
Filing date	Nov 15, 2016
Priority date	Nov 19, 2015
Publication date	May 25, 2017
Grant date	—

Abstract

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

First claim

What is claimed is:

1 . A method for controlling a robot having a controller and a drive arrangement with at least one drive, the method comprising:
determining an actual velocity of the robot; determining a target velocity for the robot; determining a damping drive parameter based on a difference between the target velocity and the actual velocity; and controlling the drive arrangement with the controller based on the damping drive parameter; wherein the target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a distance of the robot from at least one predetermined boundary.

2 . The method of claim 1 , further comprising:
determining a compliance drive parameter based on a compliance control; and controlling the drive arrangement based additionally on the compliance drive parameter.

3 . The method of claim 2 , wherein the compliance control is an impedance control or admittance control.

4 . The method of claim 2 , wherein controlling the drive arrangement based additionally on the compliance drive parameter comprises controlling the drive arrangement based on a sum of the damping drive parameter and the compliance drive parameter.

5 . The method of claim 2 , wherein a damping in the compliance control is based on a stiffness.

6 . The method of claim 1 , wherein the magnitude of the target velocity is at least one of:
limited at its upper end by the predetermined maximum velocity; or limited at its lower end by the predetermined minimum velocity.

7 . The method of claim 1 , wherein the target velocity is determined such that, for a given distance of the robot from the predetermined boundary, the target velocity is greater when the robot is located on a permissible side of the predetermined boundary, and the target velocity is smaller when the robot is located on an impermissible side of the predetermined boundary.

8 . The method of claim 1 , wherein the magnitude of the target velocity increases with the distance of the robot from the predetermined boundary when the robot is on a permissible side of the predetermined boundary.

9 . The method of claim 1 , wherein the damping drive parameter is in a direction opposite to the actual velocity.

10 . The method of claim 1 , wherein the damping drive parameter is determined such that it does not exceed a predetermined threshold when the magnitude of the target velocity exceeds the magnitude of the actual velocity.

11 . The method of claim 10 , wherein the damping drive parameter is determined to be zero when the magnitude of the target velocity exceeds the magnitude of the actual velocity.

12 . The method of claim 1 , wherein magnitude of the damping drive parameter is limited on the upper end by a predetermined maximum value.

13 . The method of claim 1 , wherein the damping drive parameter is determined such that its magnitude increases with the difference between the target velocity and the actual velocity, when the magnitude of the actual velocity exceeds the magnitude of the target velocity.

14 . The method of claim 13 , wherein the damping drive parameter is proportional to the difference between the target velocity and the actual velocity, when the magnitude of the actual velocity exceeds the magnitude of the target velocity.

15 . A system for controlling a robot having a drive arrangement with at least one drive, the system comprising:
means for determining an actual velocity of the robot; means for determining a target velocity for the robot based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a distance of the robot from at least one predetermined boundary; means for determining a damping drive parameter based on a difference between the target velocity and the actual velocity; and means for controlling the drive arrangement based on the damping drive parameter.

16 . A computer programming product for controlling a robot having a controller and a drive arrangement with at least one drive, the computer programming product including a program code stored on a non-transitory, computer-readable medium that, when executed by the controller, causes the controller to:
determine an actual velocity of the robot; determine a target velocity for the robot; determine a damping drive parameter based on a difference between the target velocity and the actual velocity; and control the drive arrangement based on the damping drive parameter; wherein the target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary.

Assignees

• Kuka Roboter Gmbh

Inventors

• Rohmer Matthias
• Mueller-Sommer Martin
• Ueberle Marc-Walter
• Schreiber Gunter
• Bonin Uwe

Classifications

• G05B2219/43203

  Limitation of speed, permissible, allowable, maximum speed · CPC title

• B25J9/1651 Primary

  acceleration, rate control · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• G05B2219/39339

  Admittance control, admittance is tip speed-force · CPC title

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title