Method and device for controlling motion of an industrial robot with a position switch

• US 8,036,776 B2
• Filed: 11/14/2006
• Issued: 10/11/2011
• Est. Priority Date: 11/16/2005
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Thulin, Mats, Kock, Sönke, Hellberg, Magnus, Mikaelsson, Pierre, Eriksson, Peter, Thors, Tommy, Fors, Michael, Bredahl, Jan, Behnisch, Kevin, Toresson, Bo
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US12/085,145
• Publication Number:
  US 20100217434A1
• Time in Patent Office: 1,792 Days
• Field of Search: None
• US Class Current: 700/261
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic

Abstract

A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.

Claims

1. A method for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, the method comprising:

registering a motion limit for at least one axis of said robot arm,

providing a reference signal for a robot position to a robot controller,

making a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of an arm of said robot,

providing a motion limit of said at least one said arm by running in at least one computer a model-based evaluator of a position switch, modelling a position of said at least one axis of said robot arm dependent on said reference signal and comparing the modelled position to the measured position,

reading reference or target values sent to the servo control for said at least one axis,

reading a measurement value for actual motor position for the at least one axis, and

modelling in the model-based evaluator a servo control loop, modelling a gearbox and calculating a first position and a trust value for the first position,

wherein a servo loop model for said at least one axis and a model for at least one gearbox is run in the model-based evaluator of the position switch.

2. The method according to claim 1, wherein the modelled position of said at least one axis is provided with a trust value.

3. The method according to claim 1, wherein the modelled position is calculated by a second computer provided in the robot or robot control unit.

4. The method according to claim 1, wherein at least one axis of said arm is arranged without a hardware position switch or a mechanical rotational stop.

5. The method according to claim 1, wherein the model-based evaluator of the position switch comprises a weighting function.

6. The method according to claim 5, wherein the weighting function of the model-based evaluator of the position switch is changed by an input signal or a signal internally generated based on a reference and a measured position.

7. The method according to claim 6, wherein the weighting function of the model-based evaluator is changed dependent on a change of the operational mode of a servo control loop.

8. The method according to claim 7, further comprising:

changing the weighting function of the model-based evaluator during an operational mode.

9. The method according to claim 1, further comprising:

synchronising a revolution counter function of the model for at least one gearbox with a servo control revolution counter and a measured gearbox position.

10. The method according to claim 1, further comprising:

calculating the first position and trust value with first model-based evaluator running on said first computer running the servo control, and

calculating a second position and trust value utilizing second instance of a model-based evaluator running on the second computer.

11. The method according to claim 10, further comprising:

sharing the control loop of the second instance of the model-based evaluator running on the second computer with the first model-based evaluator running on the first computer.

12. The method according to claim 10, further comprising:

running the servo control on said first computer,

calculating the first position and trust value with a first model model-based evaluator running on the second computer, and

calculating a second position and trust value utilizing second instance of the model-based evaluator running on a third computer.

13. The method according to claim 12, further comprising:

sharing the control loop of the first model-based evaluator running on the second computer with the second instance of the model-based position switch running on the third computer.

14. The method according to claim 2, wherein the trust values are compared and when at least two trust values are evaluated positive the position may be a handled as a safety-evaluated position.

15. The method according to claim 2, wherein the trust values are compared and when at least two trust signals are not both positive then a signal is generated indicating an internal error.

16. The method according to claim 2, wherein a safety-evaluated position and/or a trust value are modelled during a time when the robot is at a standstill or stopped.

17. The method according to claim 1, wherein the method is carried out under the instruction of a computer program comprising program instructions for making a computer computer or processor perform the method.

18. The method according to claim 17, wherein the computer program instructions are recorded one or more computer readable media.

19. A control device for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, said device comprising:

at least one first computer for servo control,

a reader configured to read an actual position value and compare the actual position value to a reference signal for the purpose of limiting motion of an arm of said robot in at least one axis,

a second computer running a model-based evaluator configured to model with a servo loop model a first position of said at least one axis dependent on said reference signal, compare the modelled first position with a measured position of the at least one axis, and generate a control signal based on a function of the modelled first position,

wherein the model-based evaluator comprises an input for inputting a target value sent to the servo control for the at least one axis, and inputting a measurement value for an actual position of the at least one axis, and a servo control loop model, a gearbox model to calculate a first position and a trust value for the first position, and a control signal generator configured to generate a control signal based on the status of the model-based evaluator of at least on axis.

20. The device according to claim 19, wherein the model-based evaluator comprises an element for providing a trust value for the first position from which the control signal is generated.

21. The device according to claim 19, wherein at least one axis of said arm is arranged without a mechanical stop.

22. The device according to claim 19, wherein the model-based evaluator comprises a servo loop model for the at least one axis and a model for at least one gearbox.

23. The device according to claim 19, wherein the servo loop model comprises at least one parameter describing a delay, and the gearbox model comprises at least one revolution counter and at least one parameter for the gearbox speed reduction ratio.

24. The device according to claim 19, wherein the model-based evaluator comprises a weighting function.

25. The device according to claim 24, wherein the weighting function for the model-based position switch is arranged readable from a memory storage for changing a weighting value dependent on an input signal or a signal internally generated based on reference and a measured position.

26. The device according to claim 25, wherein the weighting function of the model-based position switch is arranged with a signal reader configured to read a signal indicating a change of operational mode of a servo control loop.

27. The device according to claim 19, further comprising:

a servo control revolution counter, the servo model comprises a revolution counter function, and a synchronizing element configured to synchronize at least one gearbox with a measured gearbox position.

28. The device according to claim 19, further comprising:

a first computer running the servo control and running a first model-based evaluator for calculating the first position and trust value, and

a second computer running a second instance of the model-based evaluator for calculating a second position and trust value.

29. The device according to claim 28, further comprising:

a communicator configured to communicate between the first and second computer arranged for sharing the control loop of the second instance of the model-based position switch running on the second computer with the first model-based position switch running on the first computer.

30. The device according to claim 28, further comprising:

a communicator configured to communicate between the second computer running the first model-based evaluator for calculating the first position and trust value and a third computer running the second instance of the model-based evaluator for calculating second position and trust value.

31. The device according to claim 19, wherein the model-based position switch comprises a single main board and at least two computers or processors for running at least one model-based evaluator.

40. Use of a device according to claim 19 for operations using a multi-axis industrial robot or manipulator in an industrial or commercial installation, a place of work or an amusement ride.

32. A robot control system for a multi-axis industrial robot or manipulator, the system comprising:

a robot control unit, the robot or the control unit also comprising

at least one first computer running a servo controller,

a registration unit configured to register a motion limit for at least one axis of said robot arm,

a reference signal source configured to provide a reference signal for a robot position to a robot controller,

a measuring unit configured to make a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of said at least one axis of said robot,

at least one second computer running a model-based evaluator comprising means for modelling by a servo loop model a first position of the at least one arm dependent on said reference signal, a comparing unit configured to compare the modelled first position with a measured position of said at least one axis, and a control signal generator configured to generate a control signal based on a function of the modelled first position,

wherein the model-based evaluator comprises an input for inputting a target value sent to the servo control for the at least one axis, and inputting a measurement value for an actual position of the at least one axis, and a servo control loop model, a gearbox model to calculate a first position and a trust value for the first position, and a control signal generator configured to generate a control signal based on the status of the model-based evaluator of at least on axis.

33. The system according to claim 32, wherein the model-based evaluator is comprised in a position switch.

34. The system according to claim 33, wherein the position switch comprises a voting unit and a unit comprising one or more programmable safety functions.

35. The system according to claim 33, wherein the position switch is comprised in a drive module of a robot control system.

36. The system according to claim 33, wherein said robot or the control unit further comprises means for configuring a motion limit for said at least one axis of said robot.

37. The system according to claim 36, wherein said robot or the control unit further comprises means for configuring a motion limit for said at least one axis said robot dependent on a motion limit for at least one other axis of the said robot.

38. The system according to claim 32, wherein said robot or the control unit further comprises modelling a first position of the at least one arm dependent on said reference signal and comparing the modelled first position with a measured position of said at least one axis when the at least one arm is in motion or at a standstill.

41. Use of a system according to claim 32 to operate a multi-axis industrial robot or manipulator in an industrial or commercial installation to carry an operation comprising any from the list of:

fitting parts to automobiles, painting, welding, soldering, riveting, gluing, folding plate, bending plate, hemming plate, fettling, cutting, laser cutting, water jet cutting, gripping an object, manipulating an object, stacking, pick and place, palletising, depalletising.

39. A computer program, comprising:

a non-transitory computer readable medium; and

computer program instructions recorded on the computer readable medium and executable by a processor for carrying out a method for controlling motion of a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer running a servo controller, the method comprising;

registering a motion limit for at least one axis of said robot arm,

providing a reference signal for a robot position to a robot controller,

making a measurement of a position of at least one axis of said robot arm for the purpose of limiting the motion of an arm of said robot,

providing a motion limit of said at least one said arm by running in at least one computer a model-based evaluator of a position switch, modelling a position of said at least one axis of said robot arm dependent on said reference signal and comparing the modelled position to the measured position,

reading reference or target values sent to the servo control for said at least one axis,

reading a measurement value for actual motor position for the at least one axis, and

modelling in the model-based evaluator a servo control loop, modelling a gearbox and calculating a first position and a trust value for the first position,

wherein a servo loop model for said at least one axis and a model for at least one gearbox is run in the model-based evaluator of the position switch.