BRAKE PATH MONITORING OF A KINEMATIC

• US 20190321975A1
• Filed: 04/17/2019
• Published: 10/24/2019
• Est. Priority Date: 04/18/2018
• Status: Active Grant

• Current Assignee: B&R Industrial Automation GmbH (ABB Limited)
• Original Assignee: B&R Industrial Automation GmbH (ABB Limited)
• Inventors: DIRSCHLMAYR, Thomas, KAPELLER, Thomas
• Granted Patent: US 11,577,384 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/1605 Simulation of manipulator lay-out, design, modelling of manipulator
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones

Abstract

For a kinematic modelled in a kinematics coordinate system by hingedly interconnected. single axles, a method calculates a braking region possibly covered by at least one of the single axles connected to an origin of the kinematics coordinate system and at least one of the single axles moving relative to the origin, in the event of a braking process, for a point that is coupled to a single axle, at least one virtual end position of the point is determined from an initial position of the point, a vectorial speed of at least one single axle, and a minimum deceleration of at least one single axle. The braking region of the point is determined using an envelope of the initial position and the at least one virtual end position, the extent of the envelope being calculated from the initial position and the at least one virtual end position.

Claims

1. Method for controlling a kinematic that is modelled in a kinematics coordinate system by hingedly interconnected single axles, at least one of the single axles being connected to an origin of the kinematics coordinate system and at least one of the single axles moving relative to the origin, wherein, in the event of a braking process, for a point that is coupled to a single axle, at least one virtual end position of the point is determined from an initial position of the point, a vectorial speed of at least one single axle, and a minimum deceleration of at least one single axle, and in that a braking region of the point is determined using the envelope of the initial position and the at least one virtual end position, the extent of the envelope being calculated from the initial position and the at least one virtual end position, and the braking region being taken into account when controlling the kinematic.

2. Method according to claim 1, wherein the extent of the envelope is calculated from the initial position, the at least one virtual end position, and a virtual partial movement resulting therefrom.

3. Method according to claim 1, wherein the at least one virtual end position of the point is determined from the initial position (p0) of the point, a vectorial speed of each single axle moved, and a deceleration of each moved single axle.

4. Method according to claim 1, wherein at least one further virtual end position of the point is determined for the point, from the initial position (p0), the vectorial speed of the at least one single axle, and at least one further deceleration of the at least one single axle that is greater than the minimum deceleration of the at least one single axle, and in that the braking region of the point is determined using an envelope the initial position and the at least one virtual end position and the at least one further virtual end position, the extent of the envelope being calculated from the initial position, the virtual end position and the at least one further virtual end position

5. Method according to claim 1, wherein at least one braking vector which connects the initial position to the at least one virtual end position is determined, and the envelope is determined from the at least one braking vector.

6. Method according to claim 5, wherein the braking vectors are formed by a linear combination of basis braking vectors, each basis braking vector being assigned to one single axle and connecting the initial position of the point to an associated virtual end position of the point, the associated virtual end position of the point being determined from the initial position of the point, a vectorial speed of the assigned single axle, and the minimum deceleration of the assigned single axle, the assumption being made, for each basis braking vector, that the non-assigned single axles do not move any further.

7. Method according to claim 5, wherein the envelope is calculated as a first rectangle which is a minimum bounding rectangle of the braking vectors and the sides of which rectangle are preferably in parallel with the kinematics coordinate system, or the envelope is calculated as a first cuboid which is a minimum bounding cuboid of the braking vectors and the sides of which cuboid are in parallel with the kinematics coordinate system.

8. Method according to claim 7, wherein the first rectangle and/or the first cuboid is expanded, by a correction value which at least takes account of a deviation of the braking vectors from virtual partial movements of the point from the initial position into the respective virtual end positions, to an expanded first rectangle or to a first expanded first cuboid, and in that the envelope is expanded to the expanded first rectangle and/or the first expanded first cuboid.

9. Method according to claim 1, wherein, using a working space coordinate system, in a working space, the safety region of the kinematic is expanded by the envelope and/or a working region of the kinematic is reduced by the envelope, resulting in a modified safety region and/or a modified working region.

10. Method according to claim 7, wherein the first rectangle and/or the first cuboid is expanded, by a correction value which at least takes account of the deviation of the braking vectors from the virtual partial movements of the point from the initial position into the respective virtual end positions, to an expanded first rectangle and/or a first expanded first cuboid, in that a safety region of the kinematic and/or a working region of the kinematic is provided in a working space using a working space coordinate system, in that the envelope is expanded to a second rectangle or a second cuboid, the sides of which touch the corners of the first rectangle or of the first cuboid and are in parallel with the working space coordinate system, and in that a safety region of the kinematic is expanded by the envelope and/or a working region of the kinematic is reduced by the envelope, resulting in a modified safety region and/or a modified working region.

11. Method according to claim 9, wherein the initial position of the point is moved along the boundaries of the safety region or of the working region and the modified safety region is formed from the sum of the safety region and the envelope, and/or the modified working region is formed by the difference between the working region and the envelope.

12. Method according to claim 9, wherein the modified safety region and/or the modified working region is monitored, and an action is taken as soon as the point enters the modified safety region and/or the point leaves the modified working region.