Self optimizing robot controller

• US 4,616,326 A
• Filed: 10/28/1983
• Issued: 10/07/1986
• Est. Priority Date: 11/30/1982
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Meier, Christof, Bartelt, Richard, Massat, Hans-Joachim
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/546,440
• Time in Patent Office: 1,075 Days
• Field of Search: 364/167, 364/168, 364/169, 364/170, 364/171, 364/172, 364/173, 364/174, 364/513, 364/131, 364/132, 364/137, 318/561, 318/568, 382/14, 382/15, 382/41, 382/49, 382/47, 901/1
• US Class Current: 700/258
• CPC Class Codes: B23K 9/1272 Geometry oriented, e.g. beam optical trading
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 2219/31154 Actuator sensor bus, asi, intelligent actuator, motor, sensor
• CPC Class Codes: G05B 2219/35285 Plausibility check for data, within permissible range
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive

Abstract

In a robot motion control system a modular sensor data preprocessing unit is provided between the sensors and a motion control unit. Modules in the data preprocessing unit are activated in a temporal sequence in accordance with the kinds of sensors involved and the technological task to be performed. The data preprocessing unit comprises a data transfer control circuit, a basic function control circuit and a complex function control circuit, each such circuit including a plurality of independently activatable function modules. For example, the complex function circuit includes a velocity control module and a path correction module.

Claims

1. In a motion control system for a robot, said system comprising:

interface means operatively connected to sensors for receiving and relaying signals from said sensors;

position control means, including an interpolation unit, linked to the robot for controlling the motion of said robot along a predetermined path; and

separate data preprocessing means tied between said interface means and said position control means for feeding signals to said position control means upon processing sensor signals received from said interface means, the improvement wherein said data preprocessing means includes;

first memory means for storing incoming sensor generated data;

second memory means for storing results of preprocessing operations;

data transfer control means servicing the interface means and operatively linked to said first memory means for transferring sensor generated data to said first memory means from said interface means;

basic function control means, including a comparison module, operatively connected to said first memory means for performing elementary operations, including comparisons, on sensor generated data from said first memory means, said basic function control means being operatively coupled to said second memory means for storing results of said elementary operations in said second memory means; and

complex function control means, including a velocity correction module and a path correction module, operatively connected to said second memory means and to the interpolation unit of the position control means for executing velocity corrections and path corrections for the robot in at least two mutually independent directions by intervening in the operations of said interpolation unit at least partially in accordance with preprocessed data stored in said second memory means by said basic function control means, each of said control means including a plurality of independently functioning modules for performing respective mathematical operations related to robot control, said modules being activated in a temporal sequence predetermined at least in part by a technological task to be performed by said robot.

2. The improvement defined in claim 1 wherein said complex function control means is operatively connected to said first memory means, thereby enabling the performance of complex operations directly in response to incoming sensor data.

3. The improvement defined in claim 1 wherein said interpolation unit operates at an interpolation frequency and said data transfer control means operates cyclically at the same frequency.

4. The improvement defined in claim 1 wherein said data transfer control means operates upon request.

5. The improvement defined in claim 1 wherein said complex function control means includes a playback module for causing the robot to repeat a prior performed motion.

6. The improvement defined in claim 5 wherein said complex function control means further includes a track acceleration module for controlling acceleration of the robot.

7. The improvement defined in claim 1 wherein said complex function control means includes a track acceleration module for controlling acceleration of the robot.

8. The improvement defined in claim 1 wherein said basic function control means includes an arithmetic module for executing elementary arithmetic operations on received sensor data and a logic module for performing logic operations on received sensor data.

9. The improvement defined in claim 8 wherein said basic function control means further includes a control module at least in part for determining activation times for the modules of said basic function control means.

10. The improvement defined in claim 8 wherein said basic function control means further includes a nonlinear function module for executing nonlinear operations on sensor data.

11. The improvement defined in claim 8 wherein said basic function control means includes an additional module for computing mean values of sequences of incoming sensor data representing alternatingly increasing and decreasing values of a plurality of control parameters and for detecting extremum values of the data in such sequences.

12. The improvement defined in claim 8 wherein said basic function control means includes an additional module for performing transformations of sensor coordinates.

13. The improvement defined in claim 1 wherein said data transfer control means has an analog input module comprising an interface driver, an input buffer and a block transfer component, said interface driver being operatively connected to said interface means and to said input buffer for feeding data thereto from said interface means during every operating cycle of said position control means, said block transfer component being connected to an input to said input buffer and at an output to said first memory means for transferring data thereto from said input buffer.

14. The improvement defined in claim 1 wherein one of said basic function control means and said complex function control means includes a module for initiating interruptions in the processing operations of said data preprocessing means.

15. The improvement defined in claim 1 wherein one of said basic function control means and said complex function control means includes a module for controlling jumps and program branchings in the processing operations of said data preprocessing means.

16. The improvement defined in claim 1 wherein one of said basic function control means and said complex function control means includes a module for changing program parameters.