Method for controlling a manipulator system

• US 10,052,758 B2
• Filed: 06/07/2016
• Issued: 08/21/2018
• Est. Priority Date: 06/30/2015
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Kogan, Yevgen
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/175,330
• Publication Number:
  US 20170001305A1
• Time in Patent Office: 805 Days
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/12 electric
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: G05B 2219/34027 Dual servo controller, for two motors
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/41293 Inverter, dc-to-ac
• CPC Class Codes: G05B 2219/45108 Aid, robot for aid to, assist human disabled

Abstract

A method for controlling a manipulator system including a manipulator, several drives and a mobile platform A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is used for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.

Claims

1. A method for controlling a manipulator system including a manipulator control device and a at least one manipulator comprising several drives and a first converter for converting movement commands from the manipulator control device into control signals for actuating at least two of the several drives, the method performed by the manipulator control device and comprising the steps of:

a) identifying one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, the planned movement path defining programmed movement of a reference point traveling between at least two path points in Cartesian space;

b) checking whether the one or more identified drives that must be used to travel over the planned movement path of the manipulator system are connected to and being supplied with control signals by the first converter, and switching the first converter to connect to one of the one or more identified drives that is not connected to and supplying control signals to the identified drive; and

c) actuating the one or more connected, identified drives of the first converter in order to travel over the planned movement path of the manipulator system.

2. The method as set forth in claim 1, wherein in method step b) the converter is connected to exactly one drive.

3. The method as set forth in claim 1, wherein the manipulator system comprises at least one manipulator, wherein the at least one manipulator is a mobile manipulator arranged on a mobile platform of the manipulator system, and wherein the mobile platform is movable in at least one direction on one plane and comprises at least one of the several drives that can be actuated by the first converter.

4. The method as set forth in claim 1, wherein one of a plurality of movement axes of the manipulator system is associated with each of the several drives, and wherein step a) further comprises:

determining axis angles of ones of the movement axes that are associated with each of the several drives of the first converter, on at least one first and one second path point of the planned movement path of the manipulator system; and

determining whether the axis angles of the movement axes at the first path point differ from the second path point.

5. The method as set forth in claim 1, wherein step c) further comprises:

simultaneously actuating the several drives connected to the first converter by means of the first converter when the determined axis angles at the at least one first and one second path points change equally in quantity and direction.

6. The method as set forth in claim 1, wherein the at least one converter associated with the manipulator system can actuate at least three drives.

7. The method as set forth in claim 1, wherein one of a plurality of movement axes of the manipulator system is associated with each of the several drives, and wherein a respective movement axis is mechanically blocked when the drive associated with the respective movement axis is not being actuated by the first converter.

8. The method as set forth in claim 1, wherein the manipulator system includes at least one second converter for actuating at least two additional ones of the several drives, the method comprising the additional steps of:

d) identifying one or more of the additional drives that must be used to travel over the planned movement path of the manipulator system;

e) checking whether the one or more identified additional drives that must be used to travel over the planned movement path of the manipulator system are connected to and being supplied with current by the second converter, and switching the second converter to connect to one of the one or more identified additional drives that is not connected to and supplying current to the identified additional drive; and

f) actuating the one or more connected, identified drives of the second converter in order to travel over the planned movement path of the manipulator system.

12. The method as set forth in claim 6, wherein the at least one converter associated with the manipulator system can actuate at least four drives.

13. The method as set forth in claim 12, wherein the at least one converter associated with the manipulator system can actuate at least six drives.

9. A manipulator system comprising:

a manipulator control device;

at least one manipulator comprising several drives, the drives including electric motors; and

a first converter configured to convert movement commands from the manipulator control device into control signals to actuate at least two of the several drives of the manipulator system,

wherein the manipulator control device is configured to;

a) identify one or more of the several drives that must be used to travel over a planned movement path of the manipulator system, the planned movement path defining a programmed movement of a reference point traveling between at least two path points in Cartesian space, b) check whether the one or more identified drives are connected to and being supplied with control signals by the first converter, c) switch the first converter to connect to one of the one or more identified drives that is not connected to and supplying control signals to the identified drive, and d) actuate the one or more connected, identified drives connected to the first converter in order to travel over the planned movement path of the manipulator system.

10. The manipulator system as set forth in claim 9, wherein the manipulator system further comprises a mobile platform with which at least an additional one drive of the several drives is associated;

and wherein

the first converter is configured to actuate each of the connected, identified drive of the manipulator and the additional drive of the mobile platform.

11. The manipulator system as set forth in claim 9, wherein:

the manipulator system further comprises a mobile platform with which at least two additional drives are associated;

the at least one manipulator comprises at least two drives;

the first converter is configured to actuate at least one drive of the manipulator and at least one drive of the mobile platform; and

the manipulator system further comprises a second converter configured to actuate at least one other drive of the manipulator and at least one other drive of the mobile platform.