Apparatus and method for recording positions

Patent metadata

Field	Value
Publication number	US-9815196-B2
Application number	US-201514961054-A
Country	US
Kind code	B2
Filing date	Dec 7, 2015
Priority date	Dec 23, 2014
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

An apparatus for recording positions in a control program of a manipulator, which includes a manipulator, a controller having a control program, and a manual control device, wherein the controller can actuate the manipulator 10 in a compliance control, in which the manipulator is allowed to occupy an actual position different to the nominal position, wherein the controller, when recording the current position of the manipulator in the control program, carries over into the control program in a situation-based manner the nominal position, the actual position or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed.

First claim

The invention claimed is:

1. An apparatus for recording positions in a control program of a manipulator, which includes:
the manipulator;
a controller having the control program; and
an input device;
wherein the controller is configured to actuate the manipulator in a compliance control, in which the manipulator is allowed to occupy an actual position different from a nominal position;
wherein the controller is configured when recording a current position of the manipulator in the control program to select components of one or more of the nominal position or the actual position of the manipulator to be carried over into the control program, the components selected as a function of a mode by which the manipulator is moved to the current position, and
wherein the controller is configured, when the mode by which the manipulator is moved is a hybrid mode in which the manipulator is manually moved into the current position and movement is limited by the controller, to select and carry over into the control program the nominal components of the current position defined by the limitation together with actual components of the current position generated by the manual movement of the manipulator.

2. The apparatus according to claim 1 , wherein the controller is configured to define a nominal force (F nominal ) at an end effector of the manipulator and to move the manipulator by means of the controller in such a way that this nominal force (F nominal ) is obtained in the actual position.

3. The apparatus according to claim 1 , wherein the manipulator is configured to measure a force (F) of an end effector of the manipulator when it is moved onto a workpiece.

4. The apparatus according to claim 2 , wherein the controller is configured to record in the control program the nominal force (F nominal ) for the corresponding actual position.

5. The apparatus according to claim 1 , wherein, in the compliance control, a force (F) applied by the manipulator is proportional to a difference between the nominal position and the actual position.

6. The apparatus according to claim 5 , wherein the force (F) is determined as a function of the difference between the nominal position and the actual position and a proportionality factor (c) is variably adjustable by the controller
wherein the force (F) is determined as a function of the difference between the nominal position and the actual position and a proportionality factor (c) that is variably adjustable by the controller.

7. The apparatus according to claim 1 , wherein the controller is configured to record and to store directions in which forces (F, F nominal ) are to act.

8. The apparatus according to claim 1 , wherein the controller is configured to record and to store force vectors.

9. A method for recording positions of a manipulator in a control program of a controller of the manipulator, comprising the steps of:
controlling a manipulator in a compliance control, in which the manipulator is allowed to occupy an actual position different from a nominal position in current position;
selecting components of one or more of the nominal position or the actual position of the manipulator to be carried over in the control program as a function of a mode by which the manipulator is moved to the current position; and
recording the selected position in the control program,
wherein the mode is a hybrid mode in which the manipulator is manually moved into the current position and movement is limited by the controller, and the controller selects nominal components of the current position defined by the limitation together with actual components of the current position generated by the manual movement of the manipulator.

10. The method according to claim 9 , additionally comprising:
defining a nominal force (F nominal ) at an end effector of the manipulator; and
moving the manipulator in such a way that this nominal force (F nominal ) is obtained in the actual position.

11. The method according to claim 9 , additionally comprising:
measuring a three (F nominal ) of an end effector of the manipulator when it is moved onto a workpiece.

12. The method according to claim 9 , additionally comprising:
recording a nominal force (F) at the actual position in the control program by the controller.

13. The method according to claim 9 , wherein, in the compliance control, a force (F) applied by the manipulator is proportional to a difference between the nominal position and the actual position.

14. The method according to claim 13 , wherein the force (F) is determined as a function of the difference between the nominal position and the actual position and a proportionality factor (c) that is variably adjustable by the controller.

15. The apparatus according to claim 1 , wherein the controller is configured, when the mode by which the manipulator is moved is moving the manipulator by means of the input device into the current position, to select and carry over the nominal position of the manipulator into the control program.

16. The apparatus according to claim 1 , wherein the controller is configured, when mode by which the manipulator is moved is manually moving the manipulator into the current position, to select and carry over components of the actual position of the manipulator into the control program.

Assignees

• Kuka Roboter Gmbh

Inventors

• Zimmermann Uwe
• Schreiber Günter

Classifications

• G05B2219/36425

  Move manually, touch surface, record position · CPC title

• G05B19/4141 Primary

  characterised by a controller or microprocessor per axis · CPC title

• G05B19/425 Primary

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• G05B2219/39319

  Force control, force as reference, active compliance · CPC title

• B25J9/1633 Primary

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