METHOD FOR ADDING AN OBJECT INTO AN OBJECT RECORD USING A ROBOT MANIPULATOR

Description

[0001] The invention relates to a method for inserting an object into an object holder using a robot manipulator. The invention further relates to a robot manipulator.

[0002] "Vibration support enables precision assembly" (SCHWEIGERT, U.), February 7, 1992; GB 2 174 360 A and US 2008 / 267737 A1 disclose generic processes.

[0003] The object of the invention is to provide a simple and robust method for inserting an object into an object holder using a robotic manipulator. Furthermore, it is an object to provide a robotic manipulator configured for inserting an object into an object holder.

[0004] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims. Further features, applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention illustrated in the figures.

[0005] The proposed method comprises the following steps. In a first step, the effector picks up / grasps the object. The effector has a necessary mechanical interface for this purpose and is advantageously designed as a gripper, artificial hand, tool, etc.

[0006] In a second step, force-controlled and / or impedance-controlled rotational / tilting movements of the object relative to the target orientation take place. O soll ( 3R T ) moving the object along the joining trajectory using the robot manipulator T into the object holder until a predefined limit condition G1 for a moment and / or force acting on the effector is reached or exceeded, and / or until a provided force / moment signature and / or a position / velocity signature at the effector is reached or exceeded, which indicates that the insertion of the object into the object holder within predefined tolerances has been successfully completed.

[0007] The robot manipulator is advantageously designed and configured to move a distinguished point of the effector (for example, the so-called "Tool Center Point" TCP) or a distinguished point of the object (for example, its center of gravity or geometric center) along a predetermined trajectory.

[0008] The joining trajectory T is advantageously predetermined depending on the relative starting position of the object arranged on the effector for object reception, on the geometry of the object and on the geometry of the object reception.

[0009] The joining trajectory T is typically a three-dimensional curve, either singly or multiply curved. Of course, straight lines can also be used as joining trajectories. T possible.

[0010] In a third step, the effector releases the object. Alternatively, the effector can simply release the object. This release is advantageously achieved through force-controlled and / or impedance-controlled rotational / tilting movements.

[0011] In a fourth step, the effector is moved along an output trajectory using the robot manipulator. A moved away from the object being photographed.

[0012] The force-controlled and / or impedance-controlled rotary / tilting movements according to the invention significantly increase the success rate of the joining process when inserting the object into the object holder of the effector.

[0013] An advantageous further development of the proposed method is characterized by the fact that, in the second and third steps of the method, the effector performs translational lateral movements around the joining trajectory in addition to the rotational / tilting movements. T / Starting trajectory A This measure further increases the aforementioned success rate of the joining process or the final forming process.

[0014] In an advantageous variant of the method, the joining trajectories are T and the initial trajectory A is identical. In the typical general case, the joining trajectory becomes T and the initial trajectory AAdvantageously chosen to be different, resulting in cycle times through time-optimized output trajectory. A can be shortened.

[0015] An advantageous further development of the proposed method is characterized by the fact that the rotational / tilting movements in the second and / or third step rotate the object around one, two or three rotational / tilting axes against the desired orientation. O soll ( R T ) rotate / tilt, whereby the rotation / tilting of the object about the respective axis of rotation / tilting in an angular range of up to ±1°, ±2°, ±5°, ±7°, ±10°, ±12°, ±15° to the target orientation O soll ( R T ).

[0016] The object is advantageously inserted into the object holder by snapping, screwing, pressing, pressing in, gluing, soldering, or shrinking.

[0017] The object holder has at least one opening accessible from the outside. This opening is dimensioned such that the object can be inserted into the object holder through it. The method is therefore fundamentally suitable for inserting objects into an object holder that meet the requirements described above and that can be handled by a robot manipulator or its effects.

[0018] A further development of the method is characterized by the fact that if an error occurs during the object's pick-up / gripping by the effector, the object's pick-up / gripping process is repeated with modified parameters. Such an error during object pick-up / gripping can be detected, for example, by force and / or position sensors, optical sensors, ultrasonic sensors, etc., arranged on the effector and / or the robot manipulator.

[0019] The modified parameters for picking up / gripping the object can be determined both in trajectory planning for the robot manipulator and in the robot's control unit. Adjusting a target trajectory for picking up / gripping the object can, for example, be based on the forces or moments detected at the effector. Alternatively or additionally, relaxing an impedance controller used to control the robot manipulator for picking up / gripping the object can reduce undesirably high process forces.

[0020] An advantageous further development of the method is characterized by the fact that, when moving the object by means of the robot manipulator along the joining trajectory, TIf an error occurs during object handling, moving the object into the object holder using the robot manipulator results in a changed insertion trajectory. T * and / or with modified parameters for the force-controlled and / or impedance-controlled rotational / tilting movements of the object relative to the target orientation O soll ( R T ) is repeated. Such an error when moving the object into the object holder can be detected, for example, by force and / or position sensors, optical sensors, ultrasonic sensors, etc., arranged on the effector and / or the robot manipulator. The changed parameters for the force-controlled and / or impedance-controlled rotational / tilting movements of the object relative to the target orientation. O soll ( R T ) can be determined both in a trajectory planning for the robot manipulator and in a control unit of the robot or the robot manipulator.

[0021] An advantageous further development of the procedure is characterized by the fact that if errors or errors other than those described above occur during the execution of the procedure, a warning is issued and / or the execution of the procedure is aborted.

[0022] The method according to the invention is characterized in that the rotational / tilting movements correspond to closed cyclic movements, in particular Lissajous figures in two to six dimensions or Fourier series or rectangular movements or Gaussian inversions, etc.

[0023] An advantageous further development of the method is characterized by the fact that the translational lateral movements of the object around the joining trajectory T closed or open cyclic motions, in particular Lissajous figures in two to six dimensions or Fourier series, rectangular motions, Gaussian inversions, etc.

[0024] Another aspect of the invention relates to a computer system according to claim 7.

[0025] Another aspect of the invention relates to a digital storage medium according to claim 8.

[0026] Another aspect of the invention relates to a computer program product according to claim 9.

[0027] Another aspect of the invention relates to a computer program according to claim 10.

[0028] Another aspect of the invention relates to a robot according to claim 11.

[0029] Further advantages, features, and details will become apparent from the following description, in which – possibly with reference to the drawing – at least one embodiment is described in detail. Identical, similar, and / or functionally equivalent parts are marked with the same reference numerals.

[0030] It shows: Fig. 1 shows a flowchart of a proposed procedure.

[0031] Fig. 1 Figure 1 shows a flowchart of a proposed method for inserting an object into an object receptacle using an actuator-driven robot manipulator of a robot and for controlling the robot manipulator, wherein the robot manipulator has an effector at its distal end designed to pick up and / or grip the object, and wherein an insertion trajectory is defined for the object receptacle and the object to be inserted. T and along the joining trajectory T for places R T the joining trajectory T a target orientation O soll ( R T ) of the item to be added are defined.

[0032] The procedure comprises the following steps. In a first step 101 The effector picks up / grasps the object.

[0033] In a second step 102This is achieved through force-controlled and / or impedance-controlled rotational / tilting movements of the object relative to the target orientation. O soll ( R T ) moving the object along the joining trajectory using the robot manipulator T into the object holder until a predefined limit condition G1 for a moment and / or force acting on the effector is reached or exceeded, and / or until a provided force / moment signature and / or a position / velocity signature at the effector is reached or exceeded, which indicates that the insertion of the object into the object holder within predefined tolerances has been successfully completed.

[0034] After successful completion of the step 102 This is done in step 103 Under force-controlled and / or impedance-controlled rotary / tilting movements, the object is released by the effector.

[0035] In step 104 The effector is moved away by means of the robot manipulator along a predetermined starting trajectory. A . Reference symbol list

[0036] 101-104 Procedure steps

Claims

1. Method for joining an object into an object receptacle by means of an actuator-driven robot manipulator of a robot and for controlling the robot manipulator, wherein the robot manipulator has an effector at its distal end, which is arranged to pick up and / or grip the object, and wherein a joining trajectory T is defined for the object receptacle and the object to be joined, and a target orientation Osoll(RT) of the object to be joined is defined for locations RT of the joining trajectory T along the joining trajectory T, comprising the following method steps: 1.1 Picking up / gripping (101) the object by the effector, 1.2 Moving (202) the object by means of the robot manipulator along the joining trajectory T into the object receptacle by means of force-controlled and / or impedance-controlled closed cyclic rotational / tilting movements of the object relative to the target orientation Osoll(RT) until • a predetermined threshold condition G1 for a torque acting on the effector and / or a force acting on the effector is reached or exceeded, and / or • a provided force / torque signature and / or a position / velocity signature at the effector is reached or exceeded, which indicates / indicate that the joining of the object into the object receptacle has been successfully completed within predefined tolerances. 1.3 Releasing (103) the object by the effector, 1.4 moving (104) the effector away from the object receptacle by means of the robot manipulator along a predetermined exit trajectory A.

2. Method according to claim 1, in which the release (104) is performed under force-controlled and / or impedance-controlled rotational / tilting movements.

3. Method according to claim 1 or 2, in which the effector with the object in step 1.

2. and / or in step 1.

3. additionally performs translational lateral movements around the joining trajectory T / initial trajectory A.

4. Method according to one of claims 1 to 3, in which the rotationally / tilting movements in step 1.2 and / or in step 1.3 rotate / tilt the object about one, two, or three rotary / tilt axes to the target orientation Osoll(RT), wherein the rotation / tilting of the object about the respective rotation / tilting axis takes place within an angle range of up to ± 1°, ± 2°, ± 5°, ± 7°, ± 10°, ± 12°, ± 15° relative to the target orientation Osoll(RT).

5. Method according to one of claims 1 to 4, in which, if an error occurs when the object is picked up / gripped by the effector, the picking up / gripping of the object by the effector is repeated with modified parameters for picking up / gripping the object.

6. Method according to one of claims 1 to 5, in which, if an error occurs when moving the object by means of the robot manipulator along the joining trajectory T in the joining direction into the object receptacle, the object is moved by means of the robot manipulator into the object receptacle with a modified joining trajectory T* and / or with modified parameters for the force-controlled and / or impedance-controlled rotational / tilting movements of the object relative to the target orientation Osoll(RT).

7. Computer system with a data processing device, wherein the data processing device is designed to control a robot for performing the method according to one of the preceding claims 1 to 6.

8. Digital storage medium with electronically readable control signals, wherein the control signals interact with a programmable computer system in such a way that a method according to one of the preceding claims 1 to 6 is performed by a robot.

9. Computer program product with a program code stored on a machine-readable medium, designed to control a robot to execute the method according to one of the preceding claims 1 to 6 when the program code is executed on a data processing device.

10. Computer program with program codes configured to control a robot to execute the method according to one of the preceding claims 1 to 6 when the program runs on a data processing device.

11. Robot with an actuator-driven robot manipulator, wherein the robot manipulator has an effector at its distal end which is designed to pick up / grasp an object, comprising a control unit which is designed and configured to control the robot to perform the method according to one of the preceding claims 1 to 5.