ROBOT AND METHOD FOR CONTROLLING A ROBOT

Abstract

The invention relates to a robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled/regulated in accordance with a control program by a control unit, including a first sensor means, which is designed and constructed to determine a persisting adherence of the object to the effector after a release of the object by the effector in accordance with a control program, and where such an adherence persists, to generate a signal S, wherein the control unit is designed and constructed to execute the following control program: where a signal S is present, control the robot manipulator in such a manner that it executes a predefined movement in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off on the surface of the wiping object

Claims

1. A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed to pick up, handle, and release an object and is controlled or regulated by a control unit, wherein the control unit executes a control program to perform operations comprising: after the effector releases the object in accordance with a control program, causing the robot manipulator to execute a predefined movement that passes the effector by a wiping object in such a manner that an object still adhering to the effector is wiped off on the surface of the wiping object.

2. (canceled)

3. The robot according to claim 1, further comprising a second sensor means designed and constructed to determine collisions of the robot manipulator with collision objects, wherein the second sensor means executes a control program to perform operations comprising: in an event that a collision is determined upon a movement of the robot manipulator after a release of the object by the effector in accordance with a control program, a generating signal S1, wherein the control unit is designed and constructed to execute a control program to perform operations comprising: where a signal S1 is present, controlling the robot manipulator in such a manner that the robot manipulator executes a predefined movement B1 that passes the effector by a wiping object in such a manner that the object adhering to the effector is wiped off on the surface of the wiping object.

4. The robot according to claim 1, wherein the robot manipulator is force-controlled and/or impedance-controlled and/or admittance-controlled, and the control unit executes a control program to perform operations comprising: if forces or moments acting on the robot manipulator externally during wipe-off on the wiping object exceed predefined limits, controlling the robot manipulator such that the robot manipulator assumes a predefined state.

5. The robot according to claim 1, wherein the robot has a data interface to a data network, and the robot is designed and constructed to load control programs for the control unit from the data network.

6. The robot according to claim 5, wherein the robot is designed and constructed to load control and regulation parameters corresponding to the control programs from the data network.

7. The robot according to claim 5, wherein the robot is designed and constructed such that loading of control programs and/or corresponding control and regulation parameters from the data network is controlled by a remote station connected to the data network.

8. The robot according to claim 7, wherein the remote station and/or a manual input interface has a human-machine interface, the human-machine interface designed and constructed for input of control programs and/or corresponding control and regulation parameters, and/or for selection of control programs and/or corresponding control and regulation parameters from a plurality of available control programs and/or corresponding control and regulation parameters.

9. A method of operating a robot that has a robot manipulator with an effector, wherein the robot manipulator is designed and constructed to pick up, handle, and release an object and is controlled or regulated by a control unit, wherein the control unit executes a control program to perform operations comprising: after the effector releases the object in accordance with a control program, controlling the robot manipulator such that a predefined movement is executed, wherein the effector with the object possibly still adhering to the effector is passed by a wiping object in such a manner that the object possibly adhering to the effector wiped off on a surface of the wiping object.

10. A method of operating a robot that has a robot manipulator with an effector, wherein the robot manipulator is designed and constructed to pick up, handle, and release an object and is controlled or regulated by a control unit, wherein the control unit executes a control program to perform operations comprising: determining, with a first sensor means, persisting adherence of the object to the effector after release of the object by the effector in accordance with a control program; generating a signal S in presence of persisting adherence of the object to the effector; and where the signal S is present, controlling the robot manipulator in such a manner that the robot manipulator executes a predefined movement, wherein the effector with the object adhering to the effector is passed by a wiping object in such a manner that the object adhering to the effector is wiped off on a surface of the wiping object.

11. A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed to pick up, handle, and release an object and is controlled or regulated in accordance with a control program executed by a control unit, the robot comprising: a first sensor means designed and constructed to determine persisting adherence of the object to the effector after a release of the object by the effector in accordance with a control program, and to generate a signal S in the presence of such persisting adherence, wherein the control unit is designed and constructed to execute a control program to perform operations comprising: where the signal S is present, controlling the robot manipulator in such a manner that the robot manipulator executes a predefined movement B that passes the effector by a wiping object in such a manner that the object adhering to the effector is wiped off on a surface of the wiping object.

12. The robot according to claim 11, further comprising a second sensor means designed and constructed to determine collisions of the robot manipulator with collision objects, wherein the second sensor means executes a control program to perform operations comprising: in an event that a collision is determined upon movement of the robot manipulator after a release of the object by the effector in accordance with a control program, generating a signal S1, wherein the control unit is designed and constructed to execute a control program to perform operations comprising: where a signal S1 is present, controlling the robot manipulator in such a manner that the robot manipulator executes a predefined movement B1 that passes the effector by a wiping object in such a manner that the object adhering to the effector is wiped off on the surface of the wiping object.

13. The robot according to claim 11, wherein the robot manipulator is force-controlled and/or impedance-controlled and/or admittance-controlled, and the control unit executes a control program to perform operations comprising: if forces or moments acting on the robot manipulator externally during wipe-off on the wiping object exceed predefined limits, controlling the robot manipulator such that the robot manipulator assumes a predefined state.

14. The robot according to claim 11, wherein the robot has a data interface to a data network, and the robot is designed and constructed to load control programs for the control unit from the data network.

15. The robot according to claim 14, wherein the robot is designed and constructed to load control and regulation parameters corresponding to the control programs from the data network.

16. The robot according to claim 14, wherein the robot is designed and constructed such that loading of control programs and/or corresponding control and regulation parameters from the data network is controlled by a remote station connected to the data network.

17. The robot according to claim 16, wherein the remote station and/or a manual input interface has a human-machine interface, the human-machine interface designed and constructed for input of control programs and/or corresponding control and regulation parameters, and/or for selection of control programs and/or corresponding control and regulation parameters from a plurality of available control programs and/or corresponding control and regulation parameters.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In the drawings:

[0056] FIG. 1 shows a highly schematic construction of the proposed robot; and

[0057] FIG. 2 shows a highly schematic flowchart of the proposed method.

DETAILED DESCRIPTION

[0058] FIG. 1 shows a highly schematic construction of the proposed robot, having a robot manipulator 101 with an effector, wherein the robot manipulator 101 is designed and constructed for picking up and handling an object and is controlled/regulated in accordance with a control program by a control unit 103, including a first sensor means 105, which is designed and constructed to determine a persisting adherence of the object to the effector after a separation of the object from the effector in accordance with a control program, and where such an adherence persists, to generate a signal S, wherein the control unit 103 is designed and constructed to execute the following control program: where a signal S is present, control the robot manipulator 101 in such a manner that it executes a predefined movement in which the effector with the persistently adhering object is passed by a wiping object 104 in such a manner that the adhering object is wiped off on the surface of the wiping object 104. The sensor means 105 in this case has a mechanical contact sensor, an ultrasound sensor, and an optical sensor, wherein the sensors are arranged in/on the robot manipulator. In doing so, the first sensor means 105 is designed and constructed to generate a signal S when the first sensor means 105 determines persisting adherence of the released object through evaluation of the corresponding sensor data.

[0059] Furthermore, the robot has a second sensor means 106, with which collisions of the robot manipulator 101 with objects in the environment are determined, wherein the second sensor means 106 is designed and constructed to execute the following control program: in the event a collision is determined upon a movement of the robot manipulator 101 after a separation of an object from the effector in accordance with a control program and before pickup of the next object by the effector, a signal S is generated.

[0060] FIG. 2 shows a highly schematic flowchart of a proposed method for controlling a robot, which has a robot manipulator 101 with an effector, wherein the robot manipulator 101 is designed and constructed for picking up and handling an object and is controlled/regulated in accordance with a control program by a control unit 103. The method includes the following steps: In one step 201, a first sensor means determines a persisting adherence of the object to the effector after separation of the object from the effector in accordance with a control program. In a further step 202, a signal S is generated in the presence of such persisting adherence. In a further step 203, where a signal S is present, the control unit 103 controls/regulates the robot manipulator 101 such that it executes at least one predefined movement, in which the effector with the persistently adhering object is passed by a wiping object 104 in such a manner that the adhering object is wiped off on the surface of the wiping object 104.

[0061] Although the invention has been illustrated and explained in more detail by using preferred example embodiments, the invention is not limited by the disclosed examples and other variations may be derived by one of ordinary skill in the art without extending beyond the protective scope of the invention. It is thus clear that a plurality of variation options exist. It is likewise clear that example embodiments actually only represent examples, which are not to be interpreted in any manner as a limitation, for example, of the protective scope, the use options, or the configuration of the invention. Rather, the previous description and the description of figures should make one of ordinary skill in the art capable of specifically implementing the example embodiments, wherein one of ordinary skill in the art with knowledge of the disclosed concept of the invention can undertake various changes, for example with respect to the function or the arrangement of individual elements listed in an example embodiment, without going beyond the scope of protection, which is defined by the claims and the legal equivalents thereof such as, for example, more extensive explanations in the description.

LIST OF REFERENCE NUMERALS

[0062] 101 Robot manipulator [0063] 103 Control unit [0064] 104 Wiping object [0065] 105 First sensor means [0066] 106 Second sensor means [0067] 201-203 Method steps