Method for the Alignment of a Multiaxial Manipulator with an Input Device

• US 20160199984A1
• Filed: 12/09/2015
• Published: 07/14/2016
• Est. Priority Date: 01/14/2015
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Lohmeier, Sebastian, Von Tiesenhausen, Cyrill
• Granted Patent: US 9,731,415 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1625 Truss-manipulator for snake-like motion

Abstract

A method is provided for the alignment of a multiaxial manipulator with an input device, which serves to control the manipulator, which method includes the steps of execution of one or more reference movements with the input device, execution of one or more reference movements with the manipulator, recording of the executed reference movements, calculation of a transformation matrix based on the recorded reference movements, and use of the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

Claims

1. A method for the alignment of a multiaxial manipulator with an input device, fixed onto an object, which input device serves to intuitively control the manipulator, comprising:

a) executing one or more reference movements with the input device;

b) executing one or more corresponding reference movements with the manipulator by means of a direct guiding of the manipulator by hand;

c) recording the executed reference movements;

d) calculating a transformation matrix based on the recorded reference movements; and

E) using the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

2. The method according to claim 1, wherein, between steps c) and d), a compensating geometry for the recorded reference movements is calculated by means of a control device;

and

wherein, after calculation of the compensating geometry, a plausibility check is realized on the basis of compensating geometry data.

3. The method according to claim 1, wherein the manipulator has one or more axes with means, in particular sensors, for recording forces and torques.

4. The method according to claim 1, wherein the manipulator has one or more axes with means for recording a user interaction.

5. The method according to claim 1, wherein the manipulator has a tool coordinate system and is controlled on the basis of its tool coordinate system.

6. The method according to claim 1, wherein the step of executing the one or more corresponding reference movements with the manipulator by means of a direct guiding of the manipulator by hand and comprises operating the manipulator in an operating mode for active compliance control.

7. The method according to claim 1, wherein the manipulator is equipped with at least one tool such that it can be moved by the manipulator.

8. The method according to claim 7, wherein the at least one tool is an industrially employed machining tool for joining, bonding, welding, seaming, boring or screwing.

9. The method according to claim 1, wherein the input device is selected from the group consisting of haptic hand controllers, joysticks, 3D motion controllers, capacitive touchpads, switches configured for one or more of triggering special functions or pre-programmed movement sequences of the manipulator, and non-contact sensors.

10. The method according to claim 1, wherein the input device, is mounted on a jointed supporting arm;

and

wherein the joints of the supporting arm have sensors for recording joint positions of the supporting arm.

11. The method according to claim 1, wherein the input device, is mounted on a jointed supporting arm;

and

wherein the location of the supporting arm and/or of the input device is recorded with an external navigation system.

12. The method according to claim 1, wherein the one or more reference movements of the input device and the one or more corresponding reference movements of the manipulator are recorded simultaneously or sequentially.

13. The method according to claim 1,

wherein one or more external operating elements are configured to switch between operating modes or to trigger an action of the tool;

and

wherein an external monitor is configured to present images from a camera system.

16. The method according to claim 7, wherein the tool comprises a medical instrument.

17. The method according to claim 9, wherein the input device comprises a non-contact sensor selected from the group consisting of KINECT cameras and a LEAP MOTION devices.

18. The method according to claim 10, wherein the input device is detachably mounted.

19. The method according to claim 11, wherein the input device is detachably mounted.

20. The method according to claim 13, wherein the one or more external operating elements comprise a foot-operated switch connected to the control device.

21. The method according to claim 13, wherein the camera system comprises one or more of an endoscope camera, an external imaging system or navigation system.

14. A robot system comprising a control device, a manipulator and an input device,

wherein the control device is configured to allow an alignment of the manipulator with the input device, by:

recording executed reference movements of the input device and corresponding reference movements of the manipulator;

calculating a transformation matrix based on the recorded reference movements; and

using the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

15. (canceled)