Back to results
US 10,678,210 B2Granted
Controlling and/or regulating motors of a robot
AssigneeKastanienbaum GmbH
InventorsSami Haddadin, Nico Mansfeld
Life of this patent
Estimating the term…
Abstract
The invention relates to a method and device for controlling and regulating motors, MOTm, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GELn, the joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm; Z(tk) is a state of the robot components in an interval, tk; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.
Claims20
A method for controlling and regulating motors MOTm of a robot, with m=1, 2, . . . M, wherein
- the robot has robot components that are interconnected via a number N of articulated connections GELn, with n=1, 2, . . . , N;
- joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm;
- Z(tk)={zp(tk)} is a state of the robot components in an interval tk, wherein k=0, 1, 2, 3, . . . and p=1, 2, . . . , P;
- a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components;
- in the first system of motion equations BGG, um(tk) is a manipulated variable for the respective motor MOTm, and
- for the first system of coupled motion equations BGG, restrictions of the manipulated variables um(tk) and restrictions of the states Z(tk) of the connected robot components are predetermined, comprising the following steps:
- a) for the first system of coupled motion equations BGG, providing (101) a second system of locally equivalent decoupled motion equations BGE that describes the rigid-body dynamics or the flexible-body dynamics of the connected robot components;
- b) providing (102) restrictions of the manipulated variables um(tk) transformed into the second system and providing restrictions of the states Z(tk) transformed into the second system;
- c) providing (103) the state Z(tk) transformed into the second system as Z*(tk);
- d) for the second system of decoupled motion equations BGE, setting (104) a target state SZ* of the robot manipulator which is to be reached starting from the state Z*(tk) takes place, and setting (104) one or more conditions BD* and/or one or more characteristics KZ* that define how to achieve the target state SZ*;
- e) in the second system of decoupled motion equations BGE, predicting (105) a state trajectory ZT*(t) and the associated manipulated variable trajectories uT*m(t) depending on the state Z*(tk) and the target state SZ* while meeting the conditions BD*, the characteristics KZ*, the transformed restrictions of the manipulated variables um(tk), and the transformed restrictions of the states Z(tk) for an interval of t=tk to t=tk+w, wherein Δt=tk+w−tk is a predetermined prediction interval;
- f) transforming (106) the manipulated variable trajectories uT*m(t) and the state trajectories ZT*(t) into the first system of coupled motion equations BGG to generate manipulated variable trajectories uTm**(t) and state trajectories ZT**(t);
- g) from the manipulated variable trajectories uTm**(t) determining (107) of manipulated variables um(tk+1) for the next interval k+1 and regulating the motors MOTm by means of the manipulated variables um(tk+1);
- h) from the state trajectories ZT**(t) and/or on the basis of sensor data of a detection system of the state Z(t), determining (108) of the state Z(tk+1) takes place for the interval k+1;
- and
- i) for Z(tk)=Z(tk+1), performing the method again, starting with b) providing (103), until a predetermined break-off criterion or the target state SZ* is reached.
13 more elements
A device for controlling and regulating motors MOTm of a robot, with m=1, 2, . . . M, wherein
- the robot has robot components that are interconnected via a number N of articulated connections GELn, with n=1, 2, . . . , N;
- joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm;
- Z(tk)={zp(tk)} is a state of the robot components in an interval tk, wherein k=0, 1, 2, 3, . . . and p=1, 2, . . . , P;
- a first system of coupled motion equations BGG is predetermined and describes a rigid-body system or flexible-body system of the connected robot components,
- in the first system of motion equations BGG, um(tk) is a manipulated variable for the respective motor MOTm, and
- for the first system of coupled motion equations BGG, restrictions of the manipulated variables um(tk) and restrictions of the states Z(tk) of the connected robot components are predetermined, comprising:
- a) a means (201) by which, for the first system of coupled motion equations BGG, a second system of locally equivalent decoupled motion equations BGE is provided that describes the rigid-body dynamics or the flexible-body dynamics of the connected robot components;
- b) a means (202) by which restrictions of the manipulated variables um(tk) transformed into the second system and restrictions of the states Z(tk) transformed into the second system are provided;
- c) a means (203) by which the state Z(tk) transformed into the second system as Z*(tk) is provided;
- d) a means (204) by which, for the second system of decoupled motion equations BGE, setting of a target state SZ* of the robot manipulator which is to be reached starting from the state Z*(tk) takes place, and setting of one or more conditions BD* and/or one or more characteristics KZ* that define how to achieve the target state SZ* takes place;
- e) a means (205) by which, in the second system of decoupled motion equations BGE a state trajectory ZT*(t) and the associated manipulated variable trajectories uT*m(t) are predicted depending on the state Z*(tk) and the target state SZ* while meeting the conditions BD*, the characteristics KZ*, the transformed restrictions of the manipulated variables um(tk), and the transformed restrictions of the states Z(tk) for an interval of t=tk to t=tk+w, wherein Δt=tk+w−tk is a predetermined prediction interval;
- f) a means (206) by which transforming of the manipulated variable trajectories uT*m(t) and the state trajectories ZT*(t) into the first system of coupled motion equations BGG takes place to generate manipulated variable trajectories uTm**(t) and state trajectories ZT**(t);
- g) a means (207) by which, from the manipulated variable trajectories uTm**(t), manipulated variables um(tk+1) are determined for the next interval k+1 and the motors MOTm are regulated by means of the manipulated variables um(tk+1),
- h) a means (208) by which, from the state trajectories ZT**(t) and/or on the basis of sensor data of a detection system of the state Z(t), determining of the state Z(tk+1) takes place for the interval k+1;
- and
- i) a means (209) which is connected to the means (203) and passes a Z(tk) to the means (203), for which Z(tk)=Z(tk+1) applies until a predetermined break-off criterion or the target state SZ* is reached.
13 more elements
Dependencies are inferred from the claim text.