Movement control of an object

Abstract

For an improved control and planning with respect to the movement of an object (2) relative to a transport unit (1) of a transport system (10), wherein the transport unit (1) moves along a predefined transport trajectory (T1) with reference to a reference coordinate system, according to the present application a synchronization phase (P2) is provided, wherein during the synchronization phase (P2) a movement of a object point (TCP) of the object (2) along an object path (z TF ) is predefined with reference to a transport unit coordinate system (TF) which is different from the reference coordinate system, wherein the transport unit coordinate system (TF) moves with the transport unit (1) along the transport trajectory (T1). At least one path point of the object path (z TF ) is converted from the transport unit coordinate system (TF) to a base coordinate system (BCS) for controlling the movement of the object point (TCP) along the object path (z TF ) with reference to the base coordinate system (BCS).

Description

[0001] The invention relates to a method for controlling the movement of an object relative to a transport unit of a transport system, wherein the transport unit moves along a predefined transport trajectory with reference to a reference coordinate system. Furthermore, the invention relates to a system consisting of a transport system with a transport unit which moves along a predefined transport trajectory with reference to a reference coordinate system and an object which moves relative to the transport unit.

[0002] In a transport system, a transport unit moves along a transport trajectory, wherein the transport trajectory can be considered, for example, with reference to a reference coordinate system. For example, an electromagnetic transport system, such as a long-stator linear motor or a planar motor, can be provided. In the case of a long-stator linear motor, a transport path is provided along which at least a portion of the transport trajectory extends; in the case of a planar motor, at least a portion of the transport trajectory extends in a transport plane. It can further be required to move an object on the transport unit along an object path. Since the transport unit itself performs the movement, the transport trajectory must also be taken into account when controlling the object path. Accordingly, US 10,261,491 B1 proposes to determine the object path and the transport trajectory directly with reference to a reference coordinate system. However, it is only possible thereby to plan the object path together with the transport trajectory.

[0003] It is the task of the invention to achieve an improved control and planning of the object path along the transport trajectory.

[0004] This task is solved in that a synchronization phase is provided, in which, during the synchronization phase, a movement of an object point of an object along an object path is predefined with reference to a transport unit coordinate system which is different from the reference coordinate system, wherein the transport unit coordinate system moves with the transport unit along the transport trajectory, and at least one path point of the object path is converted from the transport unit coordinate system into a base coordinate system in order to control the movement of the object point along the object path with reference to the base coordinate system.

[0005] Furthermore, the task is solved by a control unit which is designed to, during a synchronization phase, predefine a movement of an object point of an object along an object path with reference to a transport unit coordinate system which is different from the reference coordinate system, wherein the transport unit coordinate system moves with the transport unit along the transport trajectory, and to convert at least one path point of the object path from the transport unit coordinate system into a base coordinate system in order to control the movement of the object point with reference to the base coordinate system.

[0006] If a plurality of objects is provided, each object can have its own transport unit coordinate system. The object path can be seen as a geometry along which the object point moves relative to the transport unit. Since the object path is defined with reference to a transport unit coordinate system which moves along the transport trajectory, which is defined with reference to a reference coordinate system, the object path has a simpler shape / geometry / design configuration than a shape / geometry / design configuration which is defined directly with reference to the reference coordinate system.

[0007] Preferably, the transport system is a long-stator linear motor, a planar motor or a continuous conveying system (e.g. a conveyor belt system), wherein the object is advantageously part of the movement system, e.g. part of a tool. For example, the object point can represent a tool tip.

[0008] Preferably, the reference coordinate system corresponds to the base coordinate system. Thereby, the transport trajectory is given with respect to the base coordinate system.

[0009] The transport trajectory is preferably pre-given by the transport system and thus not influenced by the control unit.

[0010] Furthermore, the transport trajectory can be pre-known at least section-wise or preferably determined using the position and / or velocity and / or acceleration of the transport unit.

[0011] The object path can be pre-determined with respect to the transport unit coordinate system or determined with respect to the transport unit coordinate system during movement. For example, the object path can be determined or influenced by input of a user, e.g. by setting variables or the like.

[0012] Preferably, the progress of the object point along the object path is given by a path progress parameter, wherein the object path and / or the derivative of the object path along the path progress parameter is preferably point-wise transformed from the transport unit coordinate system to the machine coordinate system using a first transformation rule, and the object path transformed to the machine coordinate system is transformed to the base coordinate system using a second transformation rule.

[0013] The path progress parameter can represent a one-dimensional quantity representing the progress of the object point on the path. Thereby, the path progress parameter can give the position and orientation of the object point.

[0014] Instead of the path progress parameter, it is also possible to directly select a position on the object path or another representation of the path progress of the object point on the object path.

[0015] Preferably, the first transformation rule is time-dependent. Furthermore, the second transformation rule can depend on the path progress parameter and / or be time-dependent.

[0016] A coupling process can be provided before the synchronization phase, wherein during the coupling process the object is moved along a coupling path to a pre-given start point in the transport unit coordinate system.

[0017] It is particularly preferred that the coupling path is continuously connected to the object path, preferably continuously up to the second derivative. Thereby, a continuous transition from the coupling path to the object path is achieved for the object, avoiding e.g. a stop, a velocity jump or an acceleration jump of the object.

[0018] The coupling path preferably starts from a fixed, stationary position in the base coordinate system. Preferably, the object is in the stationary position when the object is outside the synchronization phase and when the coupling process is provided (as long as a coupling process is provided) and when the decoupling process is provided (as long as a decoupling process is provided). However, the object point can also be transferred to the coupling path in accordance with the movement. The coupling path can be planned in the transmission unit coordinate system and can be subsequently optimized as required.

[0019] The coupling path can be determined using the position and / or velocity and / or acceleration of the transmission unit, preferably by extrapolation by means of a model. For example, path points or path segments of the coupling path can be determined continuously. The determined path points or path segments of the coupling path can be matched to the movement of the object coordinate system in order to ensure that the coupling path leads to the starting point. The current movement of the object point can also be taken into account when determining the coupling path.

[0020] The object can use a plurality of axes along the object path, wherein the kinematic and / or dynamic axis state, preferably the axis angle and / or a time and / or spatial derivative thereof, of the plurality of axes can be determined by means of inverse kinematics from at least one path point of the object path transferred to the base coordinate system.

[0021] A fixed global coordinate system can be provided as the base coordinate system. However, the base coordinate system can also be mobile, in particular when it is arranged on an axis and the axis is not part of the relevant kinematics or the movement control of the relevant kinematics.

[0022] Furthermore, the axis state can be compared to an axis limit value. Thereby, it can be ensured that the axis state does not violate the axis limit value and that the change of the axis state is determined such that at least one axis state of the axis is always located on the axis limit value in order to obtain a time-optimal movement of the object along the object path.

[0023] The axis limit value can be of kinematic nature (velocity limit value, acceleration limit value, jerk limit value, etc.). On the other hand, the axis limit value can also be of dynamic nature (force limit value, torque limit value, etc.).

[0024] A decoupling process can be provided after the synchronization phase, wherein during the decoupling process the object point is removed from the object path along a decoupling path.

[0025] The decoupling path can end at a predefined end point in the base coordinate system.

[0026] Advantageously, the decoupling path is continuously connected to the object path, preferably continuously up to the second derivative. Thereby, a continuous transition from the object path to the coupling path is achieved for the object, which avoids, for example, a stop, a velocity jump or an acceleration jump of the object.

[0027] After the synchronization phase, a transition process can be provided in which, during the transition process, the object point is moved along a transition trajectory from the object path to another starting point in the coordinate system of the further transport unit.

[0028] In controlling the movement of the object point (TCP), it can be ensured that the speed of the object point (TCP) does not exceed pre-given kinematic and / or dynamic limits, wherein it is particularly advantageous if the control of the movement of the object point (TCP) is carried out as far as possible at the kinematic and / or dynamic limits.

[0029] In the following, reference will be made to Figures 1 to Figure 3c The application is explained in more detail, Figures 1 to Figure 3c An advantageous design configuration of the application is shown by way of example, schematically and non-restrictively. Shown in the drawings are:

[0030] Figure 1a An object point of the object in the initial position is shown,

[0031] Figure 1b An object point of the object on the coupling trajectory is shown,

[0032] Figure 1c An object point on the starting point of the object path in the coordinate system of the transport unit is shown,

[0033] Figure 1d An object point on the object path in the coordinate system of the transport unit is shown,

[0034] Figure 2a A transformation from the coordinate system of the transport unit via the coordinate system of the machine to the coordinate system of the base is shown,

[0035] Figure 2b The time and local partial derivatives of the object path transformed into the coordinate system of the base are shown,

[0036] Figure 3a An object point at the beginning of the decoupling path is shown,

[0037] Figure 3b An object point on the decoupling path is shown,

[0038] Figure 3c An object point in the end position at the end of the decoupling path is shown.

[0039] A base coordinate system BCS is determined in the drawing. A transport unit 1 moving along a transport trajectory T1 is provided with a transport system 10. The transport trajectory T1 extends horizontally by way of example only. An electromagnetic transport system, for example a planar motor or a long-stator linear motor, can be provided as the transport system 10. In the case of a planar motor, a transport plane is provided in which the transport trajectory T1 extends. In the case of a long-stator linear motor, a transport path is provided along which the transport trajectory T1 extends. In the electromagnetic transport system, a magnetic field is generated by energizing a drive coil (at the transport unit or on the transport path / in the transport plane), which generates a propulsion force by interaction with a drive magnet, thereby causing movement of the transport unit 1. If the drive coil is provided on the transport unit 1, the drive magnet is located on the transport path / in the transport plane. If the drive coil is provided on the transport path / in the transport plane, the drive magnet is located on the transport unit 1. Furthermore, the transport system can be designed as a continuous conveyor system (for example a conveyor belt system). Here, the transport unit represents a unit or a part thereof that moves relative to the transport path, i.e. in the case of a conveyor belt system, for example the conveyor belt itself or a belt section of the conveyor belt. The transport trajectory T1 is fixed with reference to a reference coordinate system, i.e. in the embodiment shown with reference to the base coordinate system BCS. The transport system 10, in particular the long-stator linear motor and the planar motor, is fundamentally known and is therefore not described in greater detail here. In the drawing, only a part of the transport system 10 is shown, in which a section of the transport trajectory T1 and the associated transport unit 1 can be seen.

[0040] Furthermore, an object 2 is provided, wherein an object point TCP of the object 2 should move along an object path z TF The object point TCP of the object 2 can be freely determined on the object 2. For example, a part of a serial kinematic system, for example a tool, can be provided as the object 2, wherein for example a tool tip can be determined as the object point TCP.

[0041] According to the prior art, the movement of the object point TCP is controlled by planning the object path z TF with reference to the coordinate system of the transport trajectory, i.e. in the embodiment shown with reference to the base coordinate system BCS. However, this is only possible if the transport trajectory T1 and the object path z TF are known in advance and the object path z TF can influence the transport trajectory T1.

[0042] In contrast, according to the application, the object path z TF is determined with reference to a transport unit coordinate system TF, wherein the transport unit coordinate system TF does not correspond to the reference coordinate system, i.e. is different from the reference coordinate system. In the embodiment shown, the reference coordinate system corresponds to the base coordinate system BCS, whereby the transport unit coordinate system TF does not correspond to the base coordinate system BCS. The object path zTF The path along which the object point TCP is to move with reference to the transport unit coordinate system TF is basically described. Since the transport unit coordinate system TF moves with the transport unit 1, the object path z TF moves with the transport unit 1. At least one path point of the object path z TF is transformed from the transport unit coordinate system TF to a first coordinate system, here the base coordinate system BCS.

[0043] If a plurality of transport units 1 is provided, each transport unit 1 can have its own transport unit coordinate system TF. Thus, a synchronization phase P2 can be provided with reference to each transport unit 1, respectively, during which the movement of the object point TCP with reference to the transport unit coordinate system TF associated with the transport unit 1, which is different from the reference coordinate system, along the object path z TF is predefined, wherein the transport unit coordinate system TF moves with the transport unit 1 along the transport trajectory T1, and wherein at least one path point of the object path z TF is converted from the transport unit coordinate system TF to the base coordinate system BCS to control the movement of the object point TCP with reference to the base coordinate system BCS along the object path z TF . Preferably, the synchronization phases P2 are provided sequentially, whereby the movement of the object point TCP along the respective object path z TF is performed sequentially. The transition from one synchronization phase P2 to the next synchronization phase P2 can be performed via a decoupling process P3 from the synchronization phase and a subsequent coupling process P1 into the next synchronization phase P2.

[0044] It can be provided that the transport unit coordinate system TF is fixedly predefined and can be unaffected, for example, by providing an external transport device 1.

[0045] The transport trajectory T1 can be known a priori or unknown. If the transport trajectory T1 is unknown, it can also be determined using the position and / or velocity and / or acceleration of the transport unit 1, preferably by extrapolation by a model.

[0046] For example, a rhombus can be provided as the object path z TF . However, any one-dimensional, two-dimensional (or also multi-dimensional in a multi-dimensional transport unit coordinate system TF) object path z TF is possible, for example, a circle, a cuboid, a helix, etc. The object path z TF may be fixedly predefined with reference to the transport unit coordinate system TF or can also be determined during the synchronization phase P2 or the coupling process P1. Furthermore, the object path z TF may be closed, have one or more loops (or a fraction of an integer number of loops), etc.

[0047] The base coordinate system BCS and / or the transport unit coordinate system TF and / or the reference coordinate system (here corresponding to the base coordinate system BCS) are determined two-dimensionally for ease of representation only and can also represent, for example, three-dimensional, multi-dimensional Cartesian or non-Cartesian coordinate systems. Furthermore, the base coordinate system BCS and / or the transport unit coordinate system TF and the reference coordinate system can represent, for example, multi-dimensional (for example, 6-dimensional) non-Cartesian coordinate systems.

[0048] The object point TCP is located in its start position A, which is preferably arranged stationary in the base coordinate system BCS. During this time, the transport unit 1 is moved along the transport trajectory T1 in the reference coordinate system, i.e. here in the base coordinate system BCS. For the object point TCP, a transport unit coordinate system TF different from the reference coordinate system is provided. Figure 1a

[0049] The coupling process P1 is carried out from the start, in which the object point TCP is moved along a coupling path z1 to a predefined start point S1 in the transport unit coordinate system TF. The start point S1 is thus moved along the transport trajectory T1 together with the transport unit coordinate system TF. For example, the origin 0 of the transport unit coordinate system TF can be set as the start point S1, as shown in the drawing. Advantageously, the coupling path z1 starts from the start position A in the reference coordinate system (here the base coordinate system BCS) and is preferably planned in the transport unit coordinate system TF. Thereby, the object point TCP starts from the start position A ( Figure 1a ), moves along the coupling path z1 ( Figure 1a ) and finally reaches the start point S1 in the transport unit coordinate system TF ( Figure 1b ). Figure 1c

[0050] Since the transport unit 1 performs the movement along the transport trajectory T1 with reference to the reference coordinate system (here the base coordinate system BCS), the coupling path z1 (and thus the start position A) can be moved together with the transport unit 1 and thus with the transport unit coordinate system TF. The position / speed / acceleration of the object point TCP can also be taken into account together when calculating the coupling path z1 in order to ensure a continuous transition of the object point TCP over the coupling path z1.

[0051] Furthermore, at least one section of the coupling path z1 can be calculated depending on the position and / or speed and / or acceleration of the transport unit 1. Furthermore, the coupling path z1 can be matched to the current position and / or speed and / or acceleration, preferably continuously. Thereby, it can be ensured that the movement of the transport unit 1 (and thus the start point S1 in the transport unit coordinate system TK, here the origin 0 of the transport unit coordinate system TF) along the transport trajectory T1 is taken into account and the coupling path z1 actually also leads to the start point S1.

[0052] As shown in Figure 1d , if the start point S1 lies on the planned object path z​​TF The coupling path z1 leading to the coupling coordinate S1 thus advantageously extends continuously, preferably continuously up to the first, second or higher order derivative, to the planned object path z TF Continuously up to the first derivative means continuous velocity, continuously up to the second derivative means continuous acceleration (i.e. no jerky acceleration). Once the object point TCP has passed the coupling path z1, a direct transition to the object path z TF .

[0053] As mentioned, Figure 1a The object point TCP is shown in its starting position A from which the coupling process P1 starts. In Figure 1b , the object point TCP has already been located on the coupling path z1 and in Figure 1c , the object point TCP has already been at the end of the coupling path z1 at the starting point S1. It is to be noted that in Figure 1b , the transport unit 1 and thus the transport unit coordinate system TF has been moved further along the transport trajectory T1 relative to Figure 1a . For a more clear representation, the position of the transport unit 1 and the transport unit coordinate system TF from Figure 1a is shown in Figure 1b in dashed lines.

[0054] In Figure 1c , the object point TCP has reached the coupling coordinate S1 in the transport unit coordinate system TF, i.e. here the origin 0 of the transport unit coordinate system TF (in Figure 1c , the transport unit 1 has continued to move along the transport trajectory T1 relative to Figure 1b ). Thereby, the coupling process P1 is completed and the synchronization phase P2 can start.

[0055] As shown in Figure 1d , the object point TCP follows the object path z TF in the synchronization phase P2, wherein the object path z TF is predefined with reference to the transport unit coordinate system TF. According to the invention, at least one section of the object path z TF is converted from the transport unit coordinate system TF to the base coordinate system BCS as the transport unit coordinate system TF moves with the transport unit 1 along the transport trajectory T1. Thereby, at least one respective section of the movement process of the object point TCP is always known with reference to the base coordinate system BCS, whereby the object 2 can be driven accordingly.

[0056] After the end of the synchronization phase P2, a decoupling process P3 can be provided during which a decoupling path z3 for the object point TCP is provided, as Figure 3a , 3band 3c. The decoupling path z3 starts at the object path z TF above, preferably at a predefined decoupling point (e.g. at the origin) and preferably ends at an end position E in the base coordinate system BCS. Advantageously, the predefined continuous transition from the object path z TF to the decoupling path z3. Here, the transition can continuously extend to a first, second or higher order derivative. The object point TCP is located in Figure 3a at the origin 0 as decoupling point and in Figure 3b on the decoupling path z3 and in Figure 3c at the end position E at the end of the decoupling path z3.

[0057] If the coupling process P1 and the decoupling process P3 are provided, the end point E can correspond to the start point A. The decoupling path z3 is advantageously calculated in the base coordinate system BCS, the end position E also being located in the base coordinate system BCS.

[0058] Basically, the entire object path z TF can be converted from the transport unit coordinate system TF to the base coordinate system BCS. However, advantageously, the path points or path sections are transformed accordingly, whereby a time-optimal control of the movement of the object 2 can be carried out. The current positioning of the object point TCP on the object path z TF can be considered to depend on a path progress parameter s. The path progress parameter s can describe the progress of the object point TCP on the object path z TF as a scalar parameter.

[0059] The conversion into the base coordinate system BCS can thus be carried out by converting the object path z TF point-by-point or section-by-section, preferably, into the machine coordinate system MCS on the basis of the path progress parameter s and / or the derivative of the time. This can be carried out with the aid of the time-dependent transformation rule T MCS←TF (t).

[0060] Furthermore, sections of the object path z MCS converted into the machine coordinate system MCS can be converted from the machine coordinate system MCS into the base coordinate system BCS in succession, preferably point-by-point or section-by-section. This can be carried out with the aid of the transformation rule T BCS←MCS (s) which depends on the path progress parameter s, in particular in the case where a conversion into the machine coordinate system MCS has previously been carried out with the aid of the time-dependent transformation rule T MCS←TF (t).

[0061] The conversion from the machine coordinate system MCS into the base coordinate system BCS can also be carried out with the aid of the time-dependent transformation rule T BCS←MCS (t) or with the aid of the transformation rule T BCS←MCSis performed.

[0062] For the time range in which the conversion into the base coordinate system BCS is performed, the transport trajectory T1 can be considered to be known. The machine coordinate system MCS can also correspond to a fixed global coordinate system. As mentioned, it is of course also possible to directly perform the conversion into the base coordinate system BCS without first having to be converted into the machine coordinate system MCS.

[0063] Here, the time-dependent conversion rule T MCS←TF (t) or T BCS←MCS (t) comprises the movement of the transport unit coordinate system TF along the transport trajectory T1 in time-dependent fashion by the transport unit 1.

[0064] By the time-dependent and path progress parameter s-dependent conversion rules T MCS←TF (t) and T BCS←MCS (s) or T MCS←TF (s) and T BCS←MCS (t), new partial derivatives with respect to the path progress parameter s and new partial derivatives with respect to the time t are obtained - in addition, from the second derivatives, mixed terms.

[0065] The object point TCP can be moved along the object path z TF by means of a plurality of axes R connected to the object 2. For the axes R, dynamic axis states, for example axis angles and / or derivatives thereof, can be utilized. The dynamic axis states can be predefined with reference to a Cartesian coordinate system, for example the axis coordinate system ACS. The partial derivatives of the object path with respect to the path progress parameter s can be converted into the axis coordinate system ACS by means of inverse kinematics:

[0066] In addition, the time derivative of the path progress parameter s(t) can also be calculated in the following manner: at least one kinematic axis state of the axes R lies within the axis limit value. The speed of the object point TCP advancing along the object path z TF can be represented via the time course of the path progress parameter s(t).

[0067] For example, the speed of the axes R can be set as a kinematic axis state, wherein a maximum speed and / or a minimum speed can be set as an axis limit value. Thereby, it is ensured that the speed of the axes R does not exceed the maximum speed and / or does not fall below the minimum speed

[0068] By using these relationships, the time derivative of the path progress parameter s can be determined in order to determine how fast the path progress parameter s can be varied without the axis state exceeding the axis limit values.

[0069] It can also be provided that the kinematic axis state of the axis R always lies at the axis limit values in order to obtain an optimal movement of the object point TCP along the object path z TF (eg. in terms of time). For example, the factor can represent a minimum time, whereby the movement time is optimized. If the factor represents a minimum energy, the energy occurring in connection with the movement is minimized.

[0070] In order to ensure that the object point TCP follows the object path z TF , the path progress parameter s(t) at the current time t can be evaluated, for example, and the position z TF (t) determined therefrom on the object path z TF can be converted into the base coordinate system BCS, whereby in turn the inverse kinematics can be used to determine the axis angles. If the movement of the transport unit coordinate system TF along the transport trajectory T1 deviates from the actual movement for the planning, the axis limit values can be exceeded.

[0071] Preferably, in the synchronization phase P2 and / or during the coupling process P1 and / or during the decoupling process P3, it is ensured that the speed and / or the acceleration and / or the jerk of the object point TCP does not violate the respective axis limit values.

Claims

1. A method for controlling the movement of an object (2) relative to a transport unit (1) of a transport system (10), wherein the transport unit (1) moves along a predefined transport trajectory (Tl) with reference to a reference coordinate system, characterized in that, There is a synchronization phase during which a movement of an object point (TCP) of the object (2) is predefined with reference to a transport unit coordinate system (TF) different from the reference coordinate system along an object path (z TF ) of the object (2), wherein the transport unit coordinate system (TF) moves with the transport unit (1) along a transport trajectory (T1) which is determined at least section-wise using the position and / or velocity and / or acceleration of the transport unit (1) and at least one path point of the object path (z TF ) is transformed from the transport unit coordinate system (TF) into a base coordinate system (BCS) in order to control the movement of the object point (TCP) with reference to the base coordinate system (BCS) along the object path (z TF ).

2. The method of claim 1, wherein, The reference coordinate system corresponds to the base coordinate system (BCS).

3. The method of claim 1 or 2, wherein, A fixed global coordinate system (GCS) is used as a base coordinate system (BCS).

4. The method of any one of claims 1 to 3, wherein, The transport trajectory (T1) is predefined by the transport system (1).

5. The method of any one of claims 1 to 4, wherein, The object path (z TF ) is predetermined with reference to the transmission unit coordinate system (TF).

6. The method of any one of claims 1 to 5, wherein, a progress of the object point (TCP) along the object path (z TF ) is given as a path progress parameter (s), the object path (z TF ) along the path progress parameter (s) and / or a derivative of the parameterized object path (z TF ) is converted at least piecewise, preferably pointwise, from the transport unit coordinate system (TF) into a machine coordinate system (MCS) using a first conversion rule, and the object path (z MCS ) converted into the machine coordinate system (MCS) is converted into the base coordinate system (BCS) using a second conversion rule.

7. The method of claim 6, wherein, The first transform rule (T MCS←TF (t)) is time dependent.

8. The method of claim 6 or 7, wherein, The second transform rule (T BCS←MCS (s)) depends on the path progress parameter (s).

9. The method of any one of claims 6 to 8, wherein, The second transform rule (T BCS←MCS (t)) is time dependent.

10. The method of claim 6, wherein, The first transformation rule (T MCS←TF (t)) depends on the path progress parameter (s), and the second transformation rule (T BCS←MCS (t)) is time-dependent.

11. The method of any one of claims 1 to 10, wherein, A coupling process is provided before the synchronization phase, wherein during the coupling process the object point (TCP) is moved along a coupling path (z1) to a predefined start point (S1) in the transport unit coordinate system (TF).

12. The method of claim 11, wherein, The start point (S1) is arranged on the object path (z TF ).

13. The method of claim 12, wherein, The coupling path (z1) is continuously connected to the object path (z TF ).

14. The method of any one of claims 11 to 13, wherein, The coupling path (z1) starts at a fixed rest position (A1) in the base coordinate system BCS.

15. The method of any one of claims 11 to 13, wherein, The object point (TCP) is transferred to the coupling path (z1) according to a movement.

16. The method of any one of claims 11 to 15, wherein, The coupling path (z1) is determined with the position and / or velocity and / or acceleration of the transport unit (1), preferably extrapolated by a model.

17. The method of any one of claims 1 to 16, wherein, The object (2) is moved with a plurality of axes (R) along the object path (z TF ) and the kinematic and / or dynamic axis state, preferably the axis angle and / or its time and / or space derivative, of the plurality of axes (R) is determined by at least one path point of the object path (z TF ) transformed into the base coordinate system (BCS) by means of inverse kinematics.

18. The method of claim 17, wherein, The shaft state is compared with shaft limit values.

19. The method of any one of claims 1 to 18, wherein, A decoupling process is provided after the synchronization phase, wherein during the decoupling process the object point (TCP) is removed from the object path (z TF ) along a decoupling path (z3).

20. The method of claim 19, wherein, The decoupling path (z1) is continuously connected to the object path (z TF ).

21. The method of claim 19 or 20, wherein, The decoupling path (z3) ends at a predefined end point (E1) in the base coordinate system (BCS).

22. The method of any one of claims 1 to 21, wherein, After the synchronization phase, a transition process is provided with a further synchronization phase, wherein during the transition process the object point (TCP) is moved along a transition trajectory from the object path (z TF ) to another starting point in another transport unit coordinate system.

23. The method of any one of claims 1 to 22, wherein, When controlling the movement of the object point (TCP), it is ensured that the velocity of the object point (TCP) does not exceed predefined kinematic limits.

24. The method of claim 23, wherein, The control of the movement of the object point (TCP) takes place as far as possible at the predefined kinematic limits.

25. A system consisting of a transport system (10) having a transport unit (1) moving along a transport trajectory (Tl) predefined with reference to a reference coordinate system and an object (2) moving relative to the transport unit (1), characterized in that There is provided a control unit (11) designed to predefine, during a synchronization phase, movement of an object point (TCP) of the object (2) along an object path (z TF ) with reference to a transport unit coordinate system (TF) different from the reference coordinate system, the transport unit coordinate system (TF) moving with the transport unit (1) along a transport trajectory (T1), wherein the transport trajectory (T1) can be determined at least section-wise using position and / or velocity and / or acceleration of the transport unit (1), and to transform at least one path point of the object path (z TF ) from the transport unit coordinate system (TF) into a base coordinate system (BCS) different from the reference coordinate system in order to control movement of the object point (TCP) with reference to the base coordinate system (BCS).

26. The system of claim 25, wherein, The transport system (10) is a long-stator linear motor, a planar motor or a conveyor belt.

27. The system of claim 25 or 26, wherein, The object (2) is part of a power system.

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