Method and apparatus for the synchronous control of manipulators

• US 20040030452A1
• Filed: 05/14/2003
• Published: 02/12/2004
• Est. Priority Date: 08/06/2002
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Hagenauer, Andreas, Graf, Stefan, Stoddard, Kenneth, Chaffee, Michael
• Granted Patent: US 7,024,250 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 19/41825 machine tools and manipulators only, machining centre
• CPC Class Codes: G05B 2219/31157 Star network, hub
• CPC Class Codes: G05B 2219/31199 UDP-IP
• CPC Class Codes: G05B 2219/34348 Coordination of operations, different machines, robots execute different tasks
• CPC Class Codes: G05B 2219/34398 Channel stops and waits for marker until other channel puts that marker
• CPC Class Codes: G05B 2219/39121 Two manipulators operate on same object
• CPC Class Codes: G05B 2219/39131 Each of the manipulators holds one of the pieces to be welded together
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.

Claims

1. A method for the synchronous control of several manipulators, such as several industrial robots, wherein control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and wherein on reaching the synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or interrupted until corresponding information arrives from other control units t be synchronized.

2. The method according to claim 1, wherein the control information is transmitted by the transmitting control unit on reaching a synchronization point.

3. The method according to claim 1, wherein data structures define at least identification data for the synchronization points, option data for program sequence control and address data of the control units to be synchronized.

4. The method according to claim 1, wherein the information exchange takes place between balanced control units.

5. An apparatus for the synchronous control of a manipulator, such as an industrial robot, in a group of interconnected control units of a plurality of manipulators, comprising:

storage means at least for storing a control program for the manipulator,

communication means for transmitting and receiving control information to or from other control units to be synchronized and

processor means for executing the control program as a function of the control information received,

wherein

the storage means (6.1-6.3′

) additionally store a plurality of control relevant data structures (4),

the control data (4.1, 4.2, 4.3) contained in the data structures (4) clearly identify synchronization points (Pi) in the control program and the control units (5.1-5.3′

) to be synchronized,

the transmission times of the control information (4′

) correspond to the times of reaching synchronization points (Pi), and

the program sequence in the processor means (8.1, 8.2, 8.3, 8.3′

) or a corresponding movement of the manipulator (1, 2, 3, 3′

), according to the control data (4.1, 4.2, 4.3) contained in the data structures (4) in conjunction with already exchanged control information can be continued or can be stopped at least up to the reception of corresponding information (4′

) from other control units (5.1-5.3′

) to be synchronized.

6. The apparatus according to claim 5, wherein the data structures (4) at least contain:

identification data (4. 1) for the synchronization points (Pi),

option data (4.2) for program sequence control and—

address data (4.3) of the control units (5.1-5.3′

) to be synchronized.

7. The apparatus according to claim 6, wherein the identification data (4.1) are in the form of strings.

8. The apparatus according to claim 6, wherein the option data (4.2) are simple binary digits.

9. The apparatus according to claim 6, wherein the address data (4.3) are in the form of a list of IP addresses.

10. The apparatus according to claim 5, wherein it is connected by a communication net (12) with star topology to the other control units (5.1-5.3′

) to be synchronized.

11. The apparatus according to claim 10, wherein the communication net (12) has a hub (1) for distributing control information (4′

).

12. The apparatus according to claim 5, wherein the control information (4′

) at least contain;

identification data (4.1′

) for the synchronization points (Pi) reached, and

address data (4.2′

) for identifying the transmitting apparatus.

13. The apparatus according to claim 5, wherein said control unit and the other control units (5.1-5.3′

) to be synchronized are placed on a common hierarchic plane.