METHOD FOR DETERMINING A TRAJECTORY OF A ROBOT

Abstract

A method for determining a trajectory of a robot from a starting position to a target position is provided. The starting position and the target position are manually defined by a user in a real environment of the robot. Then a collision-free trajectory of the robot from the starting position to the target position is determined, based on the surroundings of the robot. Also provided is a device, a robot system, a computer program and a machine-readable storage medium.

Claims

1. A method for determining a trajectory of a robot from a starting position to a target position, the method comprising: receiving first user input signals representing a first user input at a first point in time stating that a first current position of the robot at the first point in time should be stored as the starting position; storing the first current position of the robot as the starting position in response to the receiving of the first user input signals; receiving second user input signals representing a second user input at a second point of time, which differs from the first point in time, stating that a second current position of the robot at the second point in time should be stored as the target position; storing the second current position of the robot as the target position in response to the receiving of the second user input signals; receiving environmental signals which represent an environment of the robot; and determining a collision-free trajectory of the robot from the starting position to the target position on a basis of the environment of the robot.

2. The method as claimed in claim 1, wherein third user input signals are received and represent a third user input at a third point in time stating that a third current position of the robot at the third point in time should be stored as an intermediate position, further wherein the third point in time differs from the first point in time and differs from the second point in time, and the third current position of the robot at the third point in time is stored in response to receiving the third user input signals, further wherein the trajectory is determined on a basis of the stored intermediate position in such a manner that the stored intermediate position is on the trajectory.

3. The method as claimed in claim 1, wherein robot control signals for controlling the robot are generated on a basis of the determined trajectory and on a basis of a predefined maximum speed and are output in such a manner that, when controlling the robot on a basis of the robot control signals, the robot moves from the starting position to the target position along the determined trajectory at the predefined maximum speed.

4. The method as claimed in claim 1, wherein display control signals are generated on a basis of the determined trajectory and on the basis of the environment of the robot and are output in such a manner that, when controlling a display device a basis of the display control signals, the determined trajectory is displayed together with the environment of the robot by the display device.

5. The method as claimed in claim 1, wherein boundary condition signals representing a boundary condition for the trajectory to be determined are received, and the trajectory is determined on a basis of the boundary condition.

6. The method as claimed in claim 5, wherein, if a trajectory which satisfies the boundary condition cannot be determined, the boundary condition is configured in such a manner that it is possible to determine a trajectory which satisfies the configured boundary condition, with the result that the trajectory is determined on a basis of the configured boundary condition.

7. The method as claimed in claim 1, wherein a plurality of collision-free trajectories respectively comprising a shortest trajectory and/or a fastest trajectory and/or a smoothest trajectory from the starting position to the target position are determined.

8. The method as claimed in claim 1, wherein robot parameter signals representing a robot parameter of a further robot in the environment of the robot are received, wherein the trajectory is determined on the basis of the robot parameter, wherein the robot parameter is an element selected from the following group of robot parameters: further starting position of a further trajectory of the further robot, further target position of a further trajectory of the further robot, further trajectory of the further robot from a further starting position to a further target position, dimension of the further robot, contour of the further robot.

9. An apparatus which is configured to carry out the method as claimed in claim 1.

10. A robot system comprising a robot and the apparatus as claimed in claim 9.

11. A computer program comprising instructions which, when the computer program is executed by a computer, cause the latter to carry out a method as claimed in claim 1.

12. A machine-readable storage medium which stores the computer program as claimed in claim 11.

Description

DETAILED DESCRIPTION

[0110] FIG. 1 shows a flowchart of a first method for determining a trajectory of a robot from a starting position to a target position.

[0111] The method comprises: [0112] receiving 101 first user input signals representing a first user input at a first point in time stating that a first current position of the robot at the first point in time should be stored as a starting position, [0113] storing 103 the first current position of the robot as a starting position in response to the reception of the first user input signals, [0114] receiving 105 second user input signals representing a second user input at a second point of time, which differs from the first point in time, stating that a second current position of the robot at the second point in time should be stored as a target position, [0115] storing 107 the second current position of the robot as a target position in response to the reception of the second user input signals, [0116] receiving 109 environmental signals which represent an environment of the robot, and [0117] determining 111 a collision-free trajectory of the robot from the stored starting position to the stored target position on the basis of the environment of the robot.

[0118] FIG. 2 shows a flowchart of a second method for determining a trajectory of a robot from a starting position to a target position.

[0119] The method comprises: [0120] receiving 201 first user input signals representing a first user input at a first point in time stating that a first current position of the robot at the first point in time should be stored as a starting position, [0121] storing 203 the first current position of the robot as a starting position in response to the reception of the first user input signals, [0122] receiving 205 second user input signals representing a second user input at a second point of time, which differs from the first point in time, stating that a second current position of the robot at the second point in time should be stored as a target position, [0123] storing 207 the second current position of the robot as a target position in response to the reception of the second user input signals, [0124] receiving 209 environmental signals which represent an environment of the robot, and [0125] determining 211 a collision-free trajectory of the robot from the stored starting position to the stored target position on the basis of the environment of the robot.

[0126] According to a step 213, provision is made for robot control signals for controlling the robot to be generated on the basis of the determined trajectory and on the basis of a predefined maximum speed in such a manner that, when controlling the robot on the basis of the robot control signals, the robot moves from the starting position to the target position along the determined trajectory at the predefined maximum speed.

[0127] The method also comprises a step 215 of outputting the generated robot control signals.

[0128] Alternatively, or additionally, step 213 may provide for display control signals to be generated on the basis of the determined trajectory and on the basis of the environment of the robot in such a manner that, when controlling a display device on the basis of the display control signals, the determined trajectory is displayed together with the environment of the robot by the display device.

[0129] Alternatively, or additionally, step 215 may provide for the generated display control signals to be output.

[0130] FIG. 3 shows an apparatus 301.

[0131] The apparatus 301 is configured to carry out the method according to the first aspect.

[0132] The apparatus 301 comprises an input 303, a processor 305 and an output 307.

[0133] The input 303 is configured to receive environmental signals 309 which represent an environment of the robot.

[0134] The input 303 is also configured to receive first user input signals 311 representing a first user input at a first point in time stating that a first current position of the robot at the first point in time should be stored as a starting position.

[0135] The input 303 is also configured to receive second user input signals 313 representing a second user input at a second point in time, which differs from the first point in time, stating that a second current position of the robot at the second point in time should be stored as a target position.

[0136] The apparatus 301 also comprises a memory device 315 which is configured to store the first current position of the robot as a starting position and is configured to store the second current position of the robot as a target position.

[0137] The memory device 315 comprises, for example, one or more memories, for example electronic and/or magnetic memories. For example, the memory device 315 comprises one or more hard disks and/or one or more SSDs (“Solid State Disk”).

[0138] The processor 305 is configured to determine a collision-free trajectory of the robot from the starting position to the target position on the basis of the stored starting position, on the basis of the stored target position and on the basis of the environment.

[0139] The processor 305 is also configured to generate trajectory signals 317 representing the determined collision-free trajectory on the basis of the determined trajectory.

[0140] The output 307 is configured to output the generated trajectory signals 317.

[0141] For example, provision is made for the generated trajectory signals 317 to be output to a robot control device which controls the robot on the basis of the determined trajectory in such a manner that the robot moves along the collision-free trajectory from the starting position to the target position.

[0142] For example, provision is made for the trajectory signals 317 to be output to a display device which then displays the determined trajectory, in particular together with the environment of the robot.

[0143] Provision is generally made for signals which are received to be received by the input 303. The input 303 is therefore accordingly configured to receive such signals.

[0144] Signals which are output are generally output by the output 307, for example. That is to say, the output 307 is configured, in particular, to output such signals.

[0145] If one embodiment provides for an intermediate position to be stored, provision is made, for example, for the intermediate position to be stored in the memory device 315.

[0146] FIG. 4 shows a robot system 401.

[0147] The robot system 401 comprises the apparatus 301 shown in FIG. 3.

[0148] The robot system 401 also comprises a robot 403 comprising a first robot arm 405, a second robot arm 407 and a third robot arm 409. The first robot arm 405 is connected to the second robot arm 407 in an articulated manner. The second robot arm 407 is connected to the third robot arm 409 in an articulated manner.

[0149] A gripper 411 is arranged on the first robot arm 405.

[0150] The robot system 401 comprises a robot control device 413 which is configured to control the robot 403, in particular to control a movement of the robot 403.

[0151] In one embodiment, the robot control device 413 is not part of the robot system 401.

[0152] The robot control signals generated by the apparatus 301 are used, for example, by the robot control device 413 to control a movement of the robot 403 from the starting position to the target position along the determined collision-free trajectory on the basis of the robot control signals.

[0153] The robot system 401 also comprises a display device 415 comprising a touch-sensitive screen 417.

[0154] The display control signals generated by the apparatus 301 are output to the touch-sensitive screen 417, with the result that the latter accordingly displays the determined trajectory together with the environment of the robot.

[0155] A user can make inputs via the touch-sensitive screen 417. For example, the user can still adapt or change the displayed determined trajectory if necessary, via the touch-sensitive screen 417.

[0156] For example, provision is made for the first user input and the second user input and the third user input, respectively, to be captured by the touch-sensitive screen 417.

[0157] One embodiment provides for the display device 417 with the touch-sensitive screen 417 to not be part of the robot system 401.

[0158] FIG. 5 shows a machine-readable storage medium 501 which stores a computer program 503.

[0159] The computer program 503 comprises instructions which, when the computer program 503 is executed by a computer, for example by the apparatus 301, cause the latter to carry out a method according to the first aspect.

[0160] FIG. 6 shows the robot 403 both in a starting position 601 and in a target position 603.

[0161] A movement of the third robot arm 409 from the starting position 601 into the target position 603 is symbolically represented by an arrow with the reference sign 605.

[0162] A movement of the second robot arm 407 from the starting position 601 into the target position 603 is symbolically represented by an arrow with the reference sign 607.

[0163] A movement of the first robot arm 405 from the starting position 601 into the target position 603 is symbolically represented by an arrow with the reference sign 609.

[0164] A first object 611, a second object 613 and a third object 615 are arranged in an environment of the robot 403.

[0165] The determination of the collision-free trajectory from the starting position 601 into the target position 603 comprises, in particular, determining a separate collision-free sub-trajectory for each of the three robot arms 405, 407, 409.

[0166] Although it appears as if the first robot arm 405 would collide with the first object 611 during its movement from the starting position 601 into the target position 603, provision is made for the first robot arm 405 to move around the first object 601.

[0167] In summary, embodiments of the invention relate to a method for determining a trajectory of a robot from a starting position to a target position. The starting position and the target position are manually determined by a user in a real environment of the robot. A collision-free trajectory of the robot from the starting position to the target position is then determined on the basis of an environment of the robot.

[0168] Embodiments of the invention also relate to an apparatus, a robot system, a computer program and a machine-readable storage medium.

[0169] Although the present invention has been disclosed in the form of preferred embodiments and variations thereon, it will be understood that numerous additional modifications and variations could be made thereto without departing from the scope of the invention.

[0170] For the sake of clarity, it is to be understood that the use of “a” or “an” throughout this application does not exclude a plurality, and “comprising” does not exclude other steps or elements.