Method and apparatus for the synchronous control of manipulations

• US 7,024,250 B2
• Filed: 05/14/2003
• Issued: 04/04/2006
• 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, Chaffee, Michael, Stoddard, Kenneth
• Primary Examiner(s): Knight, Anthony
• Assistant Examiner(s): Shute, Douglas M.
• Application Number:
  US10/438,062
• Publication Number:
  US 20040030452A1
• Time in Patent Office: 1,056 Days
• Field of Search: 700/3, 700/9, 700/19, 700/20, 700/56, 700/245, 700/247, 700/248, 700/249, 700/253, 700/169, 700/2, 901/6, 901/8, 318/568.1, 318/568.11, 318/568.2, 318/567, 318/568.21, 713/375
• US Class Current: 700/19
• 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;

wherein control units of specific manipulators exchange control information according to 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 already exchanged control information or interrupted until corresponding control information arrives from other control units to be synchronized.

2. The method according to claim 1, wherein the control information is transmitted by the transmitting control unit at a time at which said transmitting control unit reaches 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 control units being on equal voting.

5. An apparatus for the synchronous control of a manipulator;

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 additionally store a plurality of control relevant data structures,

the control data contained in the data structures clearly identify synchronization points in the control program and the control units to be synchronized,

the control information are transmitted essentially at times at which at least one of said control units to be synchronized and the corresponding manipulator reach any one of said of reaching synchronization points, and

the program sequence in the processor means or a corresponding movement of the manipulator, according to the control data contained in the data structures in conjunction with already exchanged control information can be continued or can be stopped at least up to the reception of corresponding control information from other control units to be synchronized.

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

identification data for the synchronization points,

option data for program sequence control and address data of the control units to be synchronized.

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

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

9. The apparatus according to claim 6, wherein the address data 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 with star topology to The other control units to be synchronized.

11. The apparatus according to claim 10, wherein the communication net has a hub for distributing control information.

12. The apparatus according to claim 5, wherein the control information at least contain:

identification data for the synchronization points reached, and

address data for identifying an apparatus transmitting said control information.

13. The apparatus according to claim 5, wherein said control units to be synchronized are placed on a common hierarchic plane.

14. The apparatus according to claim 5, wherein said control information comprise information indicating that said other control units to be synchronized and the corresponding manipulators have reached a common synchronization point.

15. A group of at least two apparatuses according to claim 5.