Method For Determining Possible Positions Of A Robot Arm

• US 20130310982A1
• Filed: 04/18/2013
• Published: 11/21/2013
• Est. Priority Date: 05/15/2012
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Scheurer, Christian, Zimmermann, Uwe E., Sharma, Shashank
• Granted Patent: US 9,144,902 B2
• Time in Patent Office: Days
• US Class Current: 700/263
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/35354 Polar coordinates, turntable
• CPC Class Codes: G05B 2219/39022 Transform between measuring and manipulator coordinate system
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/15 Jointed arm

Abstract

The The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

Claims

1. A method for limiting possible positions of a robot arm of a robot, wherein the robot arm comprises a frame, numerous links disposed successively, which can move in relation to one another with respect to axes, and drives for moving the links, exhibiting the following method steps:

Definition of a target position and target orientation in space of a robot arm or a tool center point assigned to an end effector attached to the robot arm, to which a reference coordinate system having polar coordinates is assigned.

Determination of the potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system, based on the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

2. The method according to claim 1, additionally exhibiting the definition of the target position and target orientation of the tool center point in the coordinates of a stationary global coordinate system.

3. The method according to claim 1, with which the potential possible positions lie within a sphere, the center of which is the tool center point in its target position.

4. The method according to claim 1, additionally exhibiting the following method step:

Determination of the possible positions of the frame of the robot arm based on the determined potential possible positions and on at least one boundary condition, which limits the potential possible positions of the frame.

5. The method according to claim 4, with which the at least one boundary condition, limiting the potential possible positions of the frame is a possible surface, onto which it is possible to attach the frame of the robot arm.

6. The method according to claim 4, with which the robot comprises at least one linear axis, by means of which the frame of the robot arm can be moved linearly, such that the boundary condition limiting the potential possible positions of frame is determined through the extension, or extensions, respectively, of the at least one linear axis.

7. The method according to claim 4, with which the robot is designed as a mobile robot, exhibiting a mobile support device having drives for moving said support device, to which the robot arm, together with its frame, is attached, and the boundary condition limiting the potential possible positions of the frame represents a possible position or location of the support device.

8. The method according to claim 7, with which the mobile support device is designed as a transport vehicle having wheels, and the drives for the mobile support device are configured for moving the wheels.

9. The method according to claim 1, additionally exhibiting a determination of the potential possible positions of the frame in terms of coordinates of the stationary global coordinate system, based on the polar coordinates of the reference coordinate system.