Position control of machine axes with collision avoidance and adaption of a machine model to a real machine

A system program, stored on a non-transitory medium and comprising machine code which, when loaded into a memory of a control device for a machine having a plurality of position-controlled axes and executed by the control device, causes the control device to operate the machine by

• controlling with the control device of the machine the position-controlled axes in accordance with a part program while the control device processes a system program,
• under control of the control device, moving an end effector under position control along a track defined by the part program via at least one intermediate element relative to a base body of the machine,
• checking with the control device, while processing the system program and before control of the position-controlled axes, by way of a parameterized model of the machine, whether the end effector is able to move along the track without collisions,
• receiving with the control device, before checking of the part program, initial measured values characteristic for the actual configuration of the machine,
• determining with the control device, before checking of the part program, parameters of the parameterized model based on the initial measured values,
• parameterizing the model with the control device in accordance with the determined parameters, and
• in the event of a collision, determining based on the model at least one of a direction and orientation of the end effector in three-dimensional geometrical space, in which the largest clearance is to be expected.

A control device for a machine having a plurality of position-controlled axes, wherein the control device is programmed with a system program, stored on a non-transitory medium and comprising machine code which, when loaded into a memory of a control device for a machine having a plurality of position-controlled axes and executed by the control device, causes the control device to operate the machine by

• controlling with the control device of the machine the position-controlled axes in accordance with a part program while the control device processes a system program,
• under control of the control device, moving an end effector under position control along a track defined by the part program via at least one intermediate element relative to a base body of the machine,
• checking with the control device, while processing the system program and before control of the position-controlled axes, by way of a parameterized model of the machine, whether the end effector is able to move along the track without collisions,
• receiving with the control device, before checking of the part program, initial measured values characteristic for the actual configuration of the machine,
• determining with the control device, before checking of the part program, parameters of the parameterized model based on the initial measured values,
• parameterizing the model with the control device in accordance with the determined parameters, and
• in the event of a collision, determining based on the model at least one of a direction and orientation of the end effector in three-dimensional geometrical space, in which the largest clearance is to be expected.

A machine, comprising:

• a base body,
• a plurality of position-controlled axes,
• an end effector movable relative to the base body via at least one intermediate element, and
• a control device configured to operate the machine by
• controlling with the control device of the machine the position-controlled axes in accordance with a part program while the control device processes a system program,
• under control of the control device, moving an end effector under position control along a track defined by the part program via at least one intermediate element relative to a base body of the machine,
• checking with the control device, while processing the system program and before control of the position-controlled axes, by way of a parameterized model of the machine, whether the end effector is able to move along the track without collisions,
• receiving with the control device, before checking of the part program, initial measured values characteristic for the actual configuration of the machine,
• determining with the control device, before checking of the part program, parameters of the parameterized model based on the initial measured values,
• parameterizing the model with the control device in accordance with the determined parameters, and
• in the event of a collision, determining based on the model at least one of a direction and orientation of the end effector in three-dimensional geometrical space, in which the largest clearance is to be expected.