Method and Computer Program for Correcting Errors in a Manipulator System

Patent metadata

Field	Value
Publication number	US-2018345497-A1
Application number	US-201615775619-A
Country	US
Kind code	A1
Filing date	Nov 9, 2016
Priority date	Nov 11, 2015
Publication date	Dec 6, 2018
Grant date	—

Abstract

The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP 1, AP 2 ), wherein the at least one placement point (AP 1, AP 2 ) forms the start andor the end of an operation structure ( 310 ); ⋅providing at least one reaction structure ( 320 ) and assigning the reaction structure ( 320 ) to an operation structure ( 310 ), wherein tlte at least one reaction structure ( 320 ) contains reaction operations (R 1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP 1, AP 2 ); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure ( 320 ) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP 1, AP 2 ).

First claim

What is claimed is:

1 . A method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, and wherein the method comprises the following method steps:
providing at least one manipulator program, wherein the manipulator program comprises a plurality of operations (O 1 to On); combining at least two of the operations (O 1 to On) to form at least one operation structure ( 310 ); defining at least one rerun point (AP 1 to AP 2 ), wherein the at least one rerun point (AP 1 to AP 2 ) forms the beginning and/or the end of an operation structure ( 310 ); providing at least one reaction structure ( 320 ) and assigning the reaction structure ( 320 ) to an operation structure ( 310 ), wherein the at least one reaction structure ( 320 ) includes reaction operations (R 1 to Rn), upon the execution of which the manipulator program controls the manipulator system such that the latter is guided into a system state corresponding to a rerun point (AP 1 , AP 2 ); executing the manipulator program and, if an error occurs, executing the reaction structure ( 320 ), such that the manipulator system is converted into a system state corresponding to a rerun point (AP 1 , AP 2 ).

2 . The method as claimed in claim 1 , wherein an operation structure ( 310 ) is consistent, such that the integrity conditions of the manipulator system are complied with at a rerun point (AP 1 , AP 2 ) and/or before and/or after the execution of the operation structure ( 310 ).

3 . The method as claimed in claim 1 , wherein the system state of the manipulator system at a rerun point (AP 1 , AP 2 ) and/or before and/or after the execution of an operation structure ( 310 ) is not consistent in all system parameters.

4 . The method as claimed in claim 1 , wherein the execution of an operation structure ( 310 ) is interrupted upon the occurrence of an error, and the method subsequently continues with the execution of a reaction structure ( 320 ).

5 . The method as claimed in claim 1 , wherein the reaction structure ( 320 ) includes at least one reaction operation (R 1 to Rn), the execution of which guides the manipulator system into the system state corresponding to the rerun point (AP 1 ), which rerun point (AP 1 ) forms the beginning of the operation structure ( 310 ) in which the error occurred.

6 . The method as claimed in claim 9 , wherein the at least one reaction operation (R 1 to Rn) reverses an operation (O 1 to On) of the operation structure ( 310 ).

7 . The method as claimed in claim 1 , wherein an operation (O 1 to On) of the manipulator program is defined by at least one parameter, and wherein the at least one parameter is variable by a reaction operation (R 1 to Rn) of the reaction structure ( 320 ).

8 . The method as claimed in claim 1 , wherein the reaction structure ( 320 ) includes at least one reaction operation (R 1 to Rn), the execution of which continues the interrupted operation structure ( 310 ) with at least one changed parameter or executes the interrupted operation structure ( 310 ) anew.

9 . The method as claimed in claim 1 , wherein the reaction structure ( 320 ) includes at least one reaction operation (R 1 to Rn), the execution of which interrupts the interrupted operation structure ( 310 ) until a user input has been effected.

10 . The method as claimed in claim 1 , wherein different reaction operations (R 1 to Rn) of the reaction structure ( 320 ) are executed depending on the type of error that occurred.

11 . The method as claimed in claim 1 , wherein the at least one operation structure ( 310 ) is linked with at least one further operation (O 1 to On) and/or operation structure ( 310 ) at a rerun point (AP 1 , AP 2 ) and one of the linked operations (O 1 to On) and/or operation structures ( 310 ) is executed after the rerun point (AP 1 , AP 2 ) has been reached.

12 . The method as claimed in claim 11 , wherein a parameter is a numerical parameter or an instruction parameter.

13 . The method as claimed in claim 1 , wherein the manipulator program includes real-time operations and real-time reaction operations and also non-real-time operations and non-real-time reaction operations, and wherein all real-time reaction operations and non-real-time reaction operations are ended before the execution of a real-time operation.

14 . A computer program having program commands which, when they are loaded on a computer and/or microcontroller, cause the computer and/or microcontroller to execute the method as claimed in claim 1 .

15 . The computer program as claimed in claim 14 , wherein an operation structure ( 310 ) and an assigned reaction structure ( 320 ) are implemented in the same manipulator program part and preferably form a semantic module ( 100 ).

16 . A device configured for executing a computer program as claimed in claim 14 .

Assignees

• Kuka Deutschland Gmbh

Inventors

• Sedlmayr Andreas

Classifications

• G05B2219/39024

  Calibration of manipulator · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• G05B2219/25416

  Interrupt · CPC title

• G05B2219/13001

  Interrupt handling · CPC title