Abstract
The invention relates to a method for operating a robot and to a robot, wherein the robot comprises movable elements ELE.sub.m which can be driven by actuators AKT.sub.n, and is designed to carry out a movement B with the elements ELE.sub.m, and wherein the robot comprises a detection system for determining signals W.sub.G.sub.k.sub.B(t) of a group of measurement variables G.sub.k.sup.B characterizing the movement B of the elements ELE.sub.m and the interactions thereof with an environment. The proposed method comprises the following steps: determining (10), by means of the detection system, reference signals W.sub.G.sub.k.sub.B.sup.R(t) of the measurement variables G.sub.k.sup.B during at least one execution of the movement B of the elements ELE.sub.m which is in the form of a reference movement B; automatically determining (102), based on the reference signals W.sub.G.sub.k.sub.B.sup.R (t), using an adaptive method, a mathematical model M.sub.G.sub.k.sub.B for describing the reference movement B including the reference interactions by the measurement variables G.sub.k.sup.B, during a normal execution of the movement B by the model M.sub.G.sub.k.sub.B; predicting (103) signals W.sub.G.sub.k.sub.B.sup.P(t) for describing the reference movement B, including the reference interactions by the measurement variables G.sub.k.sup.B; comparing (104) the signals W.sub.G.sub.k.sub.B(t) determined currently during the normal execution of the movement B with the predicted signals W.sub.G.sub.k.sub.B(t) for determining a deviation Δ.sub.G.sub.k.sub.B(t) between W.sub.G.sub.k.sub.B.sup.P(t) and in W.sub.G.sub.k.sub.B; insofar as the deviation Δ.sub.G.sub.k.sub.B(t) does not meet a predefined condition BED.sub.G.sub.k.sub.B, based on the deviation Δ.sub.G.sub.k.sub.B(t) classifying (105) the current deviation Δ.sub.G.sub.k.sub.B(t) in one of a number I of predefined error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)), wherein predefined control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t) for the actuators AKT.sub.k is produced for each of the error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)), and controlling (106) the actuators AKT.sub.k taking into account the control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t).
Claims
1. A method of operating a robot, wherein the robot comprises movable elements ELE.sub.m that are drivable by actuators AKT.sub.n, and is designed to carry out a movement B with the elements ELE.sub.m, where n=1, 2, . . . , N, m=1, 2 . . . , M, N=1, 2, . . . , M=1, 2, . . . , and wherein the robot comprises a detection system to determine signals W.sub.G.sub.k.sub.B(t) of a group of measurement variables G.sub.k.sup.B, where k=1, 2, . . . , K and K≥1, characterizing the movement B of the elements ELE.sub.m and interactions thereof with an environment, the method comprising: determining, by the detection system, reference signals W.sub.G.sub.k.sub.B.sup.R(t) of the measurement variables G.sub.k.sup.B during at least one execution of the movement B of the elements ELE.sub.m, which is in a form of a reference movement B, wherein the reference signals W.sub.G.sub.k.sub.B.sup.R(t) include reference interactions of the elements ELE.sub.m with the environment, including external forces and/or torques acting on the elements ELE.sub.m; based on the reference signals W.sub.G.sub.k.sub.B.sup.R(t), using an adaptive method, automatically determining a mathematical model M.sub.G.sub.k.sub.B to describe the reference movement B including the reference interactions, by the measurement variables G.sub.k.sup.B; during a normal execution of the movement B: using the model M.sub.G.sub.k.sub.B, predicting signals W.sub.G.sub.k.sub.B.sup.P(t) to describe the reference movement B, including the reference interactions, by the measurement variables G.sub.k.sup.B; comparing the signals W.sub.G.sub.k.sub.B(t) determined currently during the normal execution of the movement B with the predicted signals W.sub.G.sub.k.sub.B.sup.P(t) to determine a deviation Δ.sub.G.sub.k.sub.B(t) between W.sub.G.sub.k.sub.B.sup.P(t) and W.sub.G.sub.k.sub.B(t), where k=1, 2, . . . , K and K≥1; in so far as the deviation Δ.sub.G.sub.k.sub.B(t) does not meet a predefined condition BED.sub.G.sub.k.sub.B, based on the deviation Δ.sub.G.sub.k.sub.B(t), classifying the deviation Δ.sub.G.sub.k.sub.B(t) in one of a number I of predefined error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)), where i=1, 2, . . . , I, wherein predefined information and/or automatically predictable control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t) for the actuator AKT.sub.k are produced for each of the error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)); and controlling the actuators AKT.sub.k taking into account the control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t).
2. The method according to claim 1, wherein the group of measurement variables G.sub.k.sup.B comprises one or more of the following variables: force acting on movable robot components, torque and/or position, speed, or acceleration of the robot components, and/or pressure, temperature, energy, and/or contact points, and/or estimated contact points with an environment.
3. The method according to claim 1, wherein the movable elements ELE.sub.m form arm members of a robot arm, wherein at least some of the elements ELE.sub.m are driven by the actuators AKT.sub.k, and wherein the detection system in each case acquires the measurement variables G.sub.k.sup.B for some or all of the arm members.
4. The method according to claim 1, wherein the adaptive method in determining the mathematical model M.sub.G.sub.k.sub.B is carried out based on one or more Gaussian processes.
5. The method according to claim 1, wherein the mathematical model M.sub.G.sub.k.sub.B is a statistical model which is trained based on the signals W.sub.G.sub.k.sub.B.sup.R(t).
6. The method according to claim 5, wherein the statistical model comprises a hidden Markov model HMM and/or a support vector machine SVM and/or a neuronal network.
7. The method according to claim 1, wherein the signals W.sub.G.sub.k.sub.B(t) are determined based on raw data R.sub.G.sub.k.sub.B(t) acquired by the sensors of the detection system and/or wherein the signals W.sub.G.sub.k.sub.B(t) are determined based on estimation signals.
8. The method according to claim 1, wherein the condition BED.sub.G.sub.k.sub.B predetermines, for at least one of the measurement variables G.sub.k.sup.B, that the deviation Δ.sub.G.sub.k.sub.B(t) between W.sub.G.sub.k.sub.B.sup.P(t) and W.sub.G.sub.k.sub.B(t) is smaller than or equal to a predefined limit value LIMIT.sub.G.sub.k.sub.B: Δ.sub.G.sub.k.sub.B(t)≤LIMIT.sub.G.sub.k.sub.B.
9. The method according to claim 1, wherein the control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t) defines a completed reaction movement of the robot components and/or a change of at least one condition BED G.sub.k and/or a change of the model M.sub.G.sub.k.sub.B.
10. A robot designed and implemented to carry out a method according to claim 1.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0059] In the drawings:
[0060] FIG. 1 shows a diagrammatic course of the procedure of the proposed method.
DETAILED DESCRIPTION
[0061] FIG. 1 shows a diagrammatic course of the procedure of the proposed method for operating a robot, wherein the robot includes movable elements ELE.sub.m which can be driven by actuators AKT.sub.n, and is designed for the execution of a movement B with the elements ELE.sub.m, where n=1, 2, . . . , N, m=1, 2 . . . , M, N=1, 2, . . . , M=1, 2, . . . , and wherein the robot includes a detection system for determining signals W.sub.G.sub.k.sub.B(t) of a group of measurement variables G.sub.k.sup.B where k=1, 2, . . . , K and K≥1, characterizing the movement B of the elements ELE.sub.m and their interactions with an environment.
[0062] The method includes the following steps.
[0063] In a first step 101, by using the detection system, a determination of reference signals W.sub.G.sub.k.sub.B.sup.R(t) of the measurement variables G.sub.k.sup.B occurs during at least one execution of the movement B of the elements ELE.sub.m, which is in the form of reference movement B, wherein the reference signals W.sub.G.sub.k.sub.B.sup.R(t) include reference interactions of the elements ELE.sub.m with the environment, in particular external forces and/or torques acting on the elements ELE.sub.m.
[0064] In a second step 102, based on the reference signals W.sub.G.sub.k.sub.B.sup.R(t), by using an adaptive method, an automatic determination of a mathematical model M.sub.G.sub.k.sub.B for describing the reference movement B, including the reference interactions, by the measurement variables G.sub.k.sup.B, occurs.
[0065] In a third step 103, during normal execution of the movement B, using the model M.sub.G.sub.k.sub.B a prediction of signals W.sub.G.sub.k.sub.B.sup.P(t) for the description of the reference movement B, including the reference interactions, by the measurement variables G.sub.k.sup.B, occurs.
[0066] In a fourth step 104, a comparison of signals W.sub.G.sub.k.sub.B(t) determined currently during the normal execution of the movement B with the predicted signals W.sub.G.sub.k.sub.B.sup.P(t) occurs for the determination of a deviation Δ.sub.G.sub.k.sub.B(t) between W.sub.G.sub.k.sub.B.sup.P(t) and W.sub.G.sub.k.sub.B(t), where k=1, 2, . . . , K and K≥1.
[0067] In a fifth step 105, insofar as the deviation Δ.sub.G.sub.k.sub.B(t) does not meet a predefined condition BED.sub.G.sub.k.sub.B, based on the deviation Δ.sub.G.sub.k.sub.B(t), a classification of the currently occurring deviation Δ.sub.G.sub.k.sub.B(t) in one of a number I of predefined error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)) occurs, where i=1, 2, . . . , I, wherein, for each of the error categories F.sub.i,G.sub.k.sub.B(Δ.sub.G.sub.k.sub.B(t)), predefined control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t) for the actuators AKT.sub.k is provided.
[0068] In a sixth step 106, a controlling of the actuators AKT.sub.k taking into account the control information S.sub.F.sub.i.sub.,G.sub.k.sub.B(t) occurs.
[0069] Although the invention has been illustrated in further detail and explained by a preferred embodiment example, the invention is not limited by the disclosed examples, and other variations can be derived by the person skilled in the art therefrom, without leaving the scope of protection of the invention. It is therefore clear that numerous variation possibilities exist. It is also clear that, for example, mentioned embodiments in fact represent only examples which in no way should be interpreted as a limitation, for example, of the scope of protection, the application possibilities or the configuration of the invention. Instead, the preceding description and the FIGURE description enable the person skilled in the art to concretely implement the exemplary embodiments, wherein the person skilled in the art, in the knowledge of the disclosed inventive idea, can make various changes, including with regard to the function or the arrangement, in an exemplary embodiment of mentioned elements without leaving the scope of protection defined by the claims.
