Graphics support adaptation for robot control programs

Abstract

The present invention relates to a control unit (1) for a robot manipulator (100), which has an interactive operating unit (3), which is used to display a first regulating element (11) and a designated area (5) for the first regulating element (11), wherein the first regulating element (11) can be moved within the area (5) by user input, wherein the interactive operating unit (3) detects the position of the first regulating element (11) designated by the user and transmits the position to a calculation unit (7), which determines weights for specifying a cost function depending on the position, wherein the sum of these weights is constant for all positions of the regulating element, and wherein the calculation unit (7) determines parameters of a control program and / or a regulator for the robot manipulator (100) based on the cost function.

Description

Technical Field

[0001] The invention relates to a control unit for a robot manipulator for determining one or more parameters of a control program and / or a regulator for the robot manipulator and a method for determining one or more parameters of a control program and / or a regulator for the robot manipulator. Summary of the invention

[0002] The object of the invention is to simplify the adaptation of a controller or a control program for a robot manipulator.

[0003] The invention results from the features of the independent claim. Advantageous developments and embodiments are the subject matter of the dependent claims.

[0004] A first aspect of the present invention relates to a control unit for a robot manipulator, comprising an interactive operating unit, wherein the interactive operating unit is implemented to display a first adjusting element and a designated area for the first adjusting element, wherein the first adjusting element can be moved within the area by user input on the interactive operating unit, wherein the interactive operating unit is implemented to detect a user-specified position of the first adjusting element within the designated area and to transmit the position of the first adjusting element to a computing unit of the control unit, wherein the computing unit is implemented to determine weights for a specified cost function in dependence on the specified position of the first adjusting element relative to the area, wherein the sum of the weights is constant for all positions of the first adjusting element, and wherein the computing unit is implemented to determine one or more parameters of a control program and / or a regulator for the robot manipulator based on a cost function with determined weights.

[0005] In particular, the computing unit is designed to execute an adapted control program by means of an in particular adapted controller of the robot manipulator in order to perform a specified task.

[0006] Preferably, the control unit is arranged on the robot manipulator itself, that is to say, the control unit is preferably the control unit of the robot manipulator. The control unit is used in particular for executing specified control programs, wherein the specified control programs can preferably be adapted accordingly so that these specified control programs can be executed in different modes. For example, a user may wish to execute the control program as quickly as possible or in a manner that is as energy-efficient as possible. In particular, the structure of the control program is specified; however, the manner in which the control program can be specifically executed can advantageously be adapted. Such an adaptation of a control program corresponds to an optimization problem, in which an objective function should in particular be minimized or maximized (depending on the definition and sign definition of the objective), i.e., should generally be optimized. Here, the parameters of the control program relate in particular to parameters to be pre-controlled by a regulator, such as in particular the speed of the robot manipulator.

[0007] The control program is used to perform a specified task for the robot manipulator and is performed by means of a regulator on the robot manipulator. The regulator is particularly used to pre-control specific variables, such as a specific desired speed or desired acceleration, or also the desired contact force of the robot manipulator relative to an object in the environment of the robot manipulator. Such a pre-control signal is advantageously compared with a measured value, and the regulating variable of the robot manipulator is controlled accordingly, so that the actual variable tends to the desired variable, especially the desired variable of the pre-control signal. Therefore, the proportion of the regulator of the robot manipulator considered here is particularly related to the outer loop, which is related to the decisive variable for performing the task. In contrast, the inner loop of the regulator is particularly used for motor control, that is, for the corresponding conversion of the regulating variable of the outer loop. The parameters of this regulator can also be used accordingly to achieve the above-mentioned adaptation of the execution of the control program. For example, the bandwidth of the dynamic filter is increased or reduced, and the feedback gain or the size of the gain in the forward branch of the adaptation regulator is adapted. Therefore, in particular, the bandwidth of the regulator of the control unit of the robot manipulator is adapted. This corresponds to how the controller of the robot manipulator tracks the aggressiveness of the task to be performed by it, either with a weak gain so that the robot manipulator reacts only weakly to disturbances, or with a strong gain so that the robot manipulator reacts very quickly and with a high torque on the motor of the robot manipulator.

[0008] Therefore, the parameters of the control program and / or the parameters of the regulator are adapted with the aid of a cost function. The cost function is an auxiliary means, in particular for nonlinear optimization, wherein the cost function usually consists of a plurality of components, i.e. addends. These components are related to the proportions by which the cost function is increased individually. Here, these proportions can be weighted in different ways. For example, if a compromise is sought between the speed at which a task is performed and the wear of the robot manipulator at the same time when executing a robot manipulator, the cost function preferably consists of the sum of the squares of the duration and a measure of the wear. If this cost function is minimized, a compromise is produced, in particular, between the required time period and the wear of the robot manipulator. On the other hand, if the weights of these proportions of the cost function are introduced, the focus can be placed on one of the two actually contradictory variables. For example, if the required time period is weighted at 70% and the wear of the robot manipulator is weighted at 30%, the sum of the weights is 100%, but since the weight of the required time period is higher, the parameters of the control program and / or the parameters of the regulator are adapted in such a way as to tend to favor the time period when minimizing the cost function, that is, the task is performed by the robot manipulator faster and, as a result, the wear on the robot manipulator is often greater.

[0009] In order to be able to set such weights as described illustratively above as simply as possible for the user, the first adjusting element is displayed on the interactive operation unit according to the present invention. Here, the relative position of the first adjusting element relative to the designated area is reflected in the numerical value of such weight distribution. The user advantageously specifies the weight intuitively through its input on the interactive operation unit. Preferably, the interactive operation unit is a touch screen. Here, the first adjusting element is in particular a graphic enclosed unit displayed on the interactive operation unit. The designated area is also displayed on the interactive operation unit, in particular the boundary of the designated area. Therefore, the user advantageously obtains visual clues of the current position of the first adjusting element relative to the designated area, and secondly, when the first adjusting element moves relative to and within the area in response to the user's input, the user advantageously obtains immediate feedback.

[0010] Preferably, the respective distance of the first adjusting element from the edge point of the specified area is also graphically indicated, in particular in color, by displaying the value function, in particular the weighting set thereby, or by light or dark shading.

[0011] Here, the calculation unit determines the values ​​of the weights as a function of the position of the first adjusting element relative to the area, so that the sum of the weights is constant for all positions of the first adjusting element, in particular 100% or "1", depending on the representation. The first adjusting element can therefore only be moved within a specified range by user input, since otherwise the sum of the weights would exceed the specified constant value. In particular, this fact is also reflected in the graphic representation on the interactive operating unit, so that the first adjusting element cannot be moved beyond the boundaries of the specified area by user input on the interactive operating unit.

[0012] The invention thus has the advantageous effect that the user can intuitively and safely adapt a given control program and / or regulator for the robot manipulator depending on his wishes for the type of task to be performed by the robot manipulator. The use of a cost function in which the sum of the individual weights never exceeds a constant value, in particular "1" or 100%, leads to a consistent and therefore also safe execution of the control program for performing the task of the robot manipulator.

[0013] According to an advantageous embodiment, the calculation unit is implemented to determine one or more parameters for a control program and / or a regulator for the robot manipulator by performing tasks in an iterative adaptation and learning manner based on a cost function with determined weights. According to this embodiment, the cost function is used in particular to perform a self-learning algorithm to design the parameters of the control program and / or the regulator of the robot manipulator. In this case, in particular, the control program is repeatedly specified several times and the cost function is minimized in particular by a convergence algorithm, such as a gradient-based method or an evolutionary algorithm. Therefore, advantageously, the cost function determined according to the first aspect of the invention and in particular its weights are used to effectively adapt the self-learning algorithm related to the control program or the regulator of the robot manipulator.

[0014] According to another advantageous embodiment, the calculation unit is designed to determine one or more parameters of the control program and / or the regulator for the robot manipulator by minimizing the function value of a cost function with certain weights. The cost function is used in particular for optimization. Depending on the definition of the variables used and the signs used for the weights used, the cost function is either maximized in terms of optimization or minimized as a penalty function. Minimization of the cost function is usually applied in nonlinear optimization.

[0015] According to a further advantageous embodiment, the cost function has at least one of the following variables:

[0016] - the time required for the task to be performed by the robot manipulator;

[0017] -Energy consumption required to perform tasks;

[0018] - Wear and tear of the robot manipulator and / or the workpiece while performing the task;

[0019] - forces and / or torques acting between the end effector of the robotic manipulator and an object from the environment of the robotic manipulator;

[0020] -The torques that occur in the joints of the robot manipulator when performing a task;

[0021] - the speed of the reference point of the robot manipulator when performing the task;

[0022] - the acceleration of the reference point of the robot manipulator while performing the task; and

[0023] -Noise formation that occurs during the execution of tasks.

[0024] According to another advantageous embodiment, the first adjusting element can be moved on a linear scale, wherein the calculation unit is implemented to determine at least two weights for the specified cost function in dependence on the specified position of the first adjusting element relative to the area. According to this embodiment, the specified area has the form of a line segment with a starting point and an end point. Here, the first adjusting element can be moved by the user between the starting point and the end point of the line segment of the linear scale. By moving the first adjusting element, the distance of the left side of the first adjusting element from the starting point of the linear scale is set, and the distance of the right side of the first adjusting element from the end point of the linear scale is set in association therewith. These two distances are naturally related to each other and together always represent a constant length of the linear scale. This is also reflected in the weights, the sum of which remains essentially constant, because the first distance between the first adjusting element and the starting point of the linear scale is associated with a first weight from the cost function, and the second distance between the first adjusting element and the end point of the linear scale is associated with a second weight from the cost function. Advantageously, the ratio of the weights within the cost function can thus be set intuitively for the user.

[0025] According to a further advantageous embodiment, the specified area comprises a restricted plane, wherein the first adjusting element can be moved in the restricted plane, wherein the calculation unit is designed to determine at least three weights for the specified cost function as a function of the specified position of the first adjusting element relative to the area. With the plane, more than two weights, i.e. more than one ratio between two weights, can also be set using only the first adjusting element. In principle, an unlimited number of weights can be set here, in particular when a polygon is used for the restricted plane.

[0026] According to a further advantageous embodiment, the restricted plane is a polygon, wherein each of the corners of the polygon is assigned to a variable of the specified cost function, wherein the respective distances of the first adjustment element in each case relative to the corners of the polygon determine the ratio between the respective weights as a function of the specified position of the first adjustment element. Such a polygon advantageously provides a user with a particularly intuitive possibility to determine the ratio of the weights for the cost function.

[0027] According to another advantageous embodiment, the interactive operating unit is implemented for displaying the second adjusting element and the designated area for the first adjusting element and the second adjusting element, so that the first adjusting element and the second adjusting element can be moved within the area by an input of the user, wherein the interactive operating unit is implemented for detecting the position of the first adjusting element and the second adjusting element within the designated area specified by the user and for transmitting the corresponding position of the respective adjusting element to the control unit, wherein the calculation unit is implemented to determine at least three weights for the designated cost function depending on the designated position of the respective adjusting element relative to the area. The first adjusting element and the second adjusting element advantageously provide a greater number of degrees of freedom for setting the weights for the cost function.

[0028] According to a further advantageous embodiment, the first adjusting element and the second adjusting element can be moved on a common linear scale, wherein the calculation unit is designed to determine at least three weights for specifying the cost function as a function of the relative position of the first adjusting element relative to the second adjusting element and as a function of the relative position of the respective adjusting element relative to the region. The three weights are dependent on the relative position of the two adjusting elements relative to one another, wherein the sum of the weights again remains constant. Advantageously, the position of the adjusting elements relative to one another on the linear scale provides the user with a very intuitive possibility of determining the weights relative to one another.

[0029] Another aspect of the invention relates to a method for determining one or more parameters of a control program and / or a regulator for a robot manipulator by means of a control unit, comprising the following steps:

[0030] - displaying the first adjusting element and a designated area for the first adjusting element via the interactive operating unit, wherein the first adjusting element can be moved within the area via an input by the user on the interactive operating unit;

[0031] - detecting, by means of the interactive operating unit, a position of the first adjusting element in the designated area specified by the user and transmitting the position of the first adjusting element to a computing unit of the control unit;

[0032] - determining, by the calculation unit, weights for a specified cost function as a function of the specified position of the first adjusting element relative to the region, wherein the sum of the weights is constant for all positions of the first adjusting element; and

[0033] One or more parameters of a control program and / or a regulator for the robot manipulator are determined by a calculation unit based on a cost function with a certain weighting.

[0034] The advantages and preferred developments of the proposed method result from an analogous and meaningful transfer of the above-described embodiments in connection with the proposed control unit.

[0035] Further advantages, features and details emerge from the following description, in which at least one exemplary embodiment is described in detail, if necessary with reference to the drawings. Identical, similar and / or functionally identical parts are provided with the same reference numerals. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A control unit on a robot manipulator according to an embodiment of the present invention is shown;

[0037] Figure 2 shows first and second adjustment elements and designated areas according to another embodiment of the present invention;

[0038] Figure 3 shows a first adjustment element and a designated area according to another embodiment of the present invention; and

[0039] Figure 4 A method for determining one or more parameters of a control program and / or a regulator for a robot manipulator is shown according to a further exemplary embodiment of the present invention.

[0040] The illustrations in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0041] Figure 1 The control unit 1 of a robot manipulator 100 is shown. A computing unit 7 is integrated into the control unit 1. Furthermore, an interactive operating unit 3 is part of the control unit 1, i.e. a user computer with a touch screen. The interactive operating unit 3 is thus designed for displaying and detecting user inputs. A first adjusting element 11 or a first adjusting element 11 and a second adjusting element 12 are displayed on the interactive operating unit 3. For this purpose, the following Figure 2 and Figure 3 An example of a corresponding display is given. The calculation unit 7 determines weights for a specified cost function at least as a function of the specified position of the first regulating element 11 relative to the region 5, wherein the sum of these weights is constant for all positions of the respective regulating element 11 / 12. Furthermore, the calculation unit 7 determines one or more parameters for a control program and / or a regulator of the robot manipulator 100 based on the cost function with the determined weights.

[0042] Here, depending on the state variable x =[x1, x2, ..., x n ] T Possible cost function k( x ) is formed as follows:

[0043]

[0044] Here, G(x1) is a weight for a first part of the cost function that depends on a first variable x1, G(x2) is a weight for a second part of the cost function that depends on a second variable x2, and so on. At least one of the following variables may be used here:

[0045] - the time required for the robot manipulator 100 to perform the task;

[0046] -Energy consumption required to perform tasks;

[0047] - Wear and tear of the robot manipulator 100 while performing tasks;

[0048] - forces and / or torques acting between the end effector of the robotic manipulator 100 and objects from the environment of the robotic manipulator 100;

[0049] - the torques occurring in the joints of the robot manipulator 100 when performing a task;

[0050] - the speed of the reference point of the robot manipulator 100 occurring when performing the task;

[0051] - the acceleration of the reference point of the robot manipulator 100 when performing the task; and

[0052] -Noise formation that occurs during the execution of tasks.

[0053] Figure 2 The display of the interactive operation unit 3 is shown. The first adjustment element 11 and the second adjustment element 12 can be moved relative to each other and respectively relative to the designated area 5. The movability within the area 5 can be achieved by the user's touch and slide gestures as input on the interactive operation unit 3. The designated area 5 is a linear scale. The interactive operation unit 3 detects the positions of the first adjustment element 11 and the second adjustment element 12 within the designated area 5 specified by the user and transmits the corresponding positions to the calculation unit 7 of the control unit 1, which in turn is similar to Figure 1 The description of indicates weights G(x1), G(x2) and G(x3), similar to the distances between the first regulating element 11 and the second regulating element 12 relative to each other and relative to the boundary of the linear region 5.

[0054] Figure 3 An alternative display on the interactive operating unit 3 is shown. Here, the specified area 5 comprises a restricted plane, wherein only the first adjustment element 11 can be moved in the restricted plane. The calculation unit 7 in turn determines five weights for the specified cost function depending on the specified position of the first adjustment element 11 relative to the area 5, whereby Figure 3 The inverse weight G(x4) for the variable x4 is shown in FIG. The greater the distance of the first regulating element 11 from the edge points of the restricted plane formed as a polygon and assigned to the variable x4, the smaller the weight G(x4). Figure 3 In , for this relationship, the distance is symbolically related to 1 / G(x4), without actually having to use the exact inverse function. Preferably, the sum of the distances is divided according to the ratio. The same applies to all other distances and their associated weights.

[0055] Figure 4 A method for determining one or more parameters of a control program and / or a regulator for a robot manipulator 100 by means of a control unit 1 is shown, which method comprises the following steps:

[0056] - display S1 the first adjusting element 11 and the designated area 5 for the first adjusting element 11 via the interactive operating unit 3, wherein the first adjusting element 11 can be moved within the area 5 by an input of the user on the interactive operating unit 3;

[0057] - detecting S2 the position of the first adjusting element 11 in the designated area 5 specified by the user via the interactive operating unit 3 and transmitting the position of the first adjusting element 11 to the calculation unit 7 of the control unit 1;

[0058] - determining S3 weights for a given cost function by means of the calculation unit 7 as a function of the given position of the first adjusting element 11 relative to the region 5 , wherein the sum of the weights is constant for all positions of the first adjusting element 11 ; and

[0059] One or more parameters for a control program and / or a regulator of the robot manipulator 100 are determined S4 by the calculation unit 7 based on a cost function with determined weights.

[0060] Although the present invention has been illustrated and described in more detail by preferred embodiments, the present invention is not limited to the disclosed embodiments, and those skilled in the art may derive other variations therefrom without departing from the scope of protection of the present invention. Therefore, it is apparent that there are a variety of possible variations. It is also apparent that the embodiments cited by way of example actually represent only examples and should not be understood in any way as, for example, limitations on the scope of protection, possible applications or construction of the present invention. On the contrary, the foregoing description and the description of the accompanying drawings enable those skilled in the art to specifically implement the exemplary embodiments, wherein those skilled in the art, with an understanding of the disclosed inventive concept, may, for example, make various changes to the functions or arrangements of the various elements mentioned in the exemplary embodiments without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the specification.

[0061] Description of reference numerals:

[0062] 1 Control unit

[0063] 3 Operating unit

[0064] 5 Regions

[0065] 7 Computational Unit

[0066] 11. First regulatory element

[0067] 12 Second regulatory element

[0068] 100 Robot Manipulator

[0069] S1 Display

[0070] S2 Detection

[0071] S3 OK

[0072] S4 OK

Claims

1. A control unit (1) for a robot manipulator (100), comprising an interactive operating unit (3), wherein: The interactive operation unit (3) is implemented to display a first adjustment element (11), a second adjustment element and a designated area (5) for the first adjustment element (11) and the second adjustment element, wherein the first adjustment element (11) and the second adjustment element can be moved within the designated area (5) by a user input on the interactive operation unit (3), wherein the interactive operation unit (3) is implemented to detect the positions of the first adjustment element (11) and the second adjustment element within the designated area (5) specified by the user and to transmit the positions of the first adjustment element (11) and the second adjustment element to a computing unit of the control unit (1). (7), wherein the first adjusting element and the second adjusting element are movable on a common linear scale, wherein the computing unit (7) is implemented to determine at least three weights for a specified cost function depending on a user-specified position of the first adjusting element (11) relative to the second adjusting element and depending on the relative position of the respective adjusting element relative to the specified area (5), wherein the sum of the weights is constant for all positions of the first adjusting element (11), and wherein the computing unit (7) is implemented to determine one or more parameters for a control program and / or a controller for the robot manipulator (100) based on the cost function with the determined weights.

2. The control unit (1) according to claim 1, wherein: The calculation unit (7) is implemented to determine the control program and / or the one or more parameters of the regulator for the robot manipulator (100) based on the cost function with the determined weights by performing tasks in an iterative adaptation and learning manner.

3. The control unit (1) according to claim 1 or 2, wherein: The calculation unit (7) is implemented to determine the one or more parameters of the control program and / or the regulator for the robot manipulator (100) by minimizing a function value of the cost function with a determined weight.

4. The control unit (1) according to claim 1 or 2, wherein: The cost function has at least one of the following variables: - the time required for the task to be performed by the robotic manipulator (100); - the energy consumption required to perform the task; - wear and tear of the robot manipulator (100) and / or the workpiece while performing a task; - forces and / or torques acting between an end effector of the robotic manipulator (100) and an object from the environment of the robotic manipulator (100); - the torques occurring in the joints of the robot manipulator (100) when performing a task; - the speed of the reference point of the robot manipulator (100) occurring when performing the task; - the acceleration of the reference point of the robot manipulator (100) when performing a task; as well as - Noise that occurs while performing tasks.

5. The control unit (1) according to claim 1 or 2, wherein: The first adjustment element (11) is movable on a linear scale, wherein the calculation unit (7) is implemented to determine at least two weights for the specified cost function depending on the specified position of the first adjustment element (11) relative to the specified area (5).

6. The control unit (1) according to claim 1 or 2, wherein: The specified area (5) comprises a restricted plane, wherein the first adjustment element (11) is movable in the restricted plane, wherein the calculation unit (7) is implemented to determine at least three weights for the specified cost function depending on the specified position of the first adjustment element (11) relative to the specified area (5).

7. The control unit (1) according to claim 6, wherein: The restricted plane is a polygon, wherein each of the corners of the polygon is assigned a variable of the specified cost function, wherein a respective distance of the first adjustment element (11) relative to a respective corner of the polygon determines a ratio between respective weights according to the specified position of the first adjustment element (11).

8. The control unit (1) according to claim 1 or 2, wherein: The interactive operation unit (3) is implemented to display a second adjustment element (12) and a designated area (5) for the first adjustment element (11) and the second adjustment element (12), so that the first adjustment element (11) and the second adjustment element (12) can be moved within the designated area (5) by user input, wherein the interactive operation unit (3) is implemented to detect the positions of the first adjustment element (11) and the second adjustment element (12) within the designated area (5) specified by the user and to transmit the corresponding positions of the corresponding adjustment elements (11, 12) to the calculation unit (7) of the control unit (1), wherein the calculation unit (7) is implemented to determine at least three weights for the specified cost function depending on the specified positions of the corresponding adjustment elements (11, 12) relative to the designated area (5).

9. A method for determining one or more parameters of a control program and / or a regulator for a robot manipulator (100) by means of a control unit (1), comprising the following steps: - displaying (S1) a first adjusting element (11), a second adjusting element and a designated area (5) for the first adjusting element (11) and the second adjusting element via an interactive operating unit (3), wherein the first adjusting element (11) and the second adjusting element can be moved within the designated area (5) via an input by a user on the interactive operating unit (3); - detecting (S2) positions of the first adjusting element (11) and the second adjusting element in the designated area (5) specified by the user via the interactive operation unit (3) and transmitting the positions of the first adjusting element (11) and the second adjusting element to a calculation unit (7) of the control unit (1); - the first adjusting element and the second adjusting element are movable on a common linear scale, - determining (S3) at least three weights for specifying a cost function by the calculation unit (7) depending on the specified position of the first adjusting element (11) relative to the second adjusting element and depending on the relative position of the respective adjusting element relative to the specified area (5), wherein the sum of the weights is constant for all positions of the first adjusting element (11); and - determining (S4) one or more parameters for a control program and / or a regulator of the robot manipulator (100) by the calculation unit (7) based on the cost function with the determined weighting.

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