Method and device for controlling manipulators

• US 9,999,973 B2
• Filed: 11/19/2010
• Issued: 06/19/2018
• Est. Priority Date: 11/23/2009
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Inventors: Finkemeyer, Bernd
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US12/950,277
• Publication Number:
  US 20110125321A1
• Time in Patent Office: 2,769 Days
• Field of Search: 700245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 19/045 using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers
• CPC Class Codes: G05B 2219/23287 Executing sequential program concurrently with state machine instructions
• CPC Class Codes: G05B 2219/23289 State logic control, finite state, tasks, machine, fsm

Abstract

According to a method according to the invention for controlling at least one manipulator, in particular a robot, a plurality of control commands (P, B, F) are worked through, in that in a state machine (ZM) the respective command runs through an active state (-A), wherein in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or a plurality of control commands are processed at the same time.

Claims

1. A method for controlling a robotic manipulator, comprising:

working through a plurality of control commands using a processor to generate a particular motion or action of the robotic manipulator,

wherein each control command includes issuance of at least one particular motion or action instruction for the robotic manipulator, wherein each control command runs through at least an active state in a state machine,

wherein at least one of the plurality of control commands runs through at least one of a preliminary state associated with receiving sensor data from the robotic manipulator without motion or action thereof and placed before the active state, or a post-operational state associated with termination of the motion or action of the active state and placed after the active state in the state machine,

wherein a first and a second of the plurality of control commands are processed by the processor at the same time,

wherein the at least one control command runs through at least one of a pre-processing state placed before the preliminary state or a completed state placed after the post-operational state in the state machine, and

wherein the first control command transitions to a completed state after all control components monitored by the first control command in the active state or the post-operational state have been taken over by other control commands.

2. The method of claim 1, wherein at least one of the plurality of control commands runs through at least one of a safety state, an error state, or a waiting state in a state machine.

3. The method of claim 1, wherein at least one of the plurality of control commands communicates with at least one control component regarding the functionality of a sensor or an actuator.

4. The method of claim 1, wherein a control-specific or state-specific control system functionality is assigned to one of the plurality of control commands.

5. The method of claim 1, wherein running through a state of one of the plurality of control commands comprises at least one of evaluating parameters, readying resources, specifying interfaces, receiving cyclical data, or sending cyclical data.

6. The method of claim 1, further comprising signaling readiness to a control command from a hardware component of the control system.

7. The method of claim 1, further comprising defining an order of priority for the plurality of control commands such that either the control commands run their active states sequentially in the defined order or the control commands access a shared resource in the defined order.

10. The method of claim 1, wherein the at least one of control command runs through the preliminary state, and while the at least one control command is in the preliminary state, the processor receives real-situation data of one or more control components that are necessary for carrying out the at least one control command so that functionality corresponding to the one or more control components is available when the at least one control command transitions to the active state.

11. The method of claim 1, wherein the at least one control command runs through the post-operational state, and while the at least one control command is in the post-operational state, the robotic manipulator is held in a particular state until another of the control commands transitions into the active state.

12. The method of claim 1, wherein the at least one control command runs through the pre-processing state, and while the at least one control command is in the pre-processing state, one or more resources for processing the at least one control command are negotiated.

13. The method of claim 1, wherein the at least one control command runs through the completed state, and while the at least one control command is in the completed state, the at least one control command is deleted or transitioned into a waiting state, the pre-processing state, or the preliminary state.

14. The method of claim 1, wherein a third one of the plurality of control commands is processed by the processor at the same time as the first and the second control commands.

8. A system for controlling a robotic manipulator, comprising:

a controller configured to work through a plurality of control commands to generate a particular motion or action of the robotic manipulator,

wherein each control command includes issuance of at least one particular motion or action instruction for the robotic manipulator, wherein each control command runs through at least an active state in a state machine,

wherein the controller runs at least one of the plurality of control commands through at least one of a preliminary state associated with receiving sensor data from the robotic manipulator without motion or action thereof before the active state, or a post-operational state associated with termination of the motion or action of the active state after the active state in the state machine,

wherein the controller runs the at least one control command through at least one of a pre-processing state placed before the preliminary state or a completed state placed after the post-operational state in the state machine, and

wherein the controller is configured to process a first and a second of the plurality of control commands at the same time, and

wherein the first control command transitions to a completed state after all control components monitored by the first control command in the active state or the post-operational state have been taken over by other control commands.

9. A program product, comprising:

a non-transitory computer-readable medium; and

program code stored on the computer-readable medium and configured to control a robotic manipulator;

the program code configured to work through a plurality of control commands to generate a particular motion or action of the robotic manipulator,

wherein each control command includes issuance of at least one particular motion or action instruction for the robotic manipulator, wherein each control command runs through at least an active state in a state machine,

wherein at least one of the plurality of control commands runs through at least one of a preliminary state associated with receiving sensor data from the robotic manipulator without motion or action thereof and placed before the active state, or a post-operational state associated with termination of the motion or action of the active state and placed after the active state in a state machine,

wherein the at least one control command runs through at least one of a pre-processing state placed before the preliminary state or a completed state placed after the post-operational state in the state machine, and wherein a first and a second of the plurality of control commands are processed at the same time, and

wherein the first control command transitions to a completed state after all control components monitored by the first control command in the active state or the post-operational state have been taken over by other control commands.