MANIPULATOR SYSTEM FOR THE COORDINATED CONTROL OF AT LEAST TWO MANIPULATORS

Abstract

A manipulator system for the coordinated control of at least two manipulators. The system includes a main computer that is configured for carrying out a sequence control, and at least two multiaxial manipulators. A manipulator controller and at least one axis controller are associated with each manipulator. The manipulator controllers are spatially separate from the main computer and set up in their own housings. Each manipulator preferably includes converters for controlling the actuators of the axes of the manipulator, wherein the converter associated with an actuator is situated in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the associated manipulator.

Claims

1. A manipulator system for the coordinated control of at least two manipulators, comprising: a main computer that is configured for carrying out a sequence control, at least two multiaxial manipulators, and at least two manipulator controllers, wherein each one of the at least two manipulator controllers is associated with one of the at least two manipulators, the manipulator controllers each being spatially separate from the main computer and in its own housing, and wherein each multiaxial manipulator includes a plurality of converters for controlling actuators associated with each of a plurality axes of the multiaxial manipulator, wherein the converter associated with each actuator is situated in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the manipulator.

2. The manipulator system according to claim 1, wherein the converter associated with each actuator is situated in a manipulator arm.

3. The manipulator system according to claim 1, further comprising: at least two axis controllers, wherein at least one of the at least two axis controllers is associated with each manipulator, and the at least one axis controller is positioned on the particular manipulator in such a way that the at least one axis controller can be moved along with a movement of the manipulator.

4. The manipulator system according to claim 3, wherein the at least two axis controllers are associated with the main computer in a chain topology or in a star topology.

5. The manipulator system according to claim 1, wherein the main computer comprises: a a sequence control unit that includes planned path movements of the at least two manipulators, and a command switch that is configured for coordinating planned path movements of the at least two manipulators.

6. The manipulator system according to claim 5, further comprising: at least two axis controllers, wherein: the main computer is configured for sending commands of the sequence control unit to the manipulator controllers associated with each of the manipulators, at least one of the at least two axis controllers is associated with each manipulator, each manipulator controller is configured for sending commands to the at least one axis controller associated with its respective manipulator for controlling the axes of the manipulator, and the axis controllers are configured for converting commands received from the manipulator controllers for controlling the axes into converter commands to be executed by the converters.

7. A manipulator system for the coordinated control of at least two manipulators, comprising: a main control device that is associated with a first one of the at least two manipulators and that includes a sequence control unit configured for carrying out a sequence control, wherein: the main control device includes a command switch, a first manipulator controller, and a first axis controller, wherein the command switch is configured for sending commands of the sequence control unit to a first manipulator controller, and the first manipulator controller is configured for sending commands for controlling axes of the first manipulator to a first axis controller, and the first axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with the axes of the first manipulator, and at least one secondary control device which is associated with the second of the at least two manipulators, wherein: the least one secondary control device is spatially separate from the main control device, is set up in its own housing, and has an independent power supply, wherein the at least one secondary control device includes a second manipulator controller, and the command switch of the main control device is configured for sending commands of the sequence control unit to the second manipulator controller, and the second manipulator controller is configured for sending commands for controlling axes of the second manipulator to a second axis controller of the second manipulator, and the second axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with axes of the second manipulator.

8. The manipulator according to claim 7, wherein the manipulator system includes a third manipulator having a third secondary control device, and the secondary control devices are associated with the main control device in a chain topology or in a star topology.

9. The manipulator system according to claim 7, wherein the sequence control unit includes planned path movements of the at least two manipulators.

10. A manipulator system for the coordinated control of at least two manipulators, comprising at least two subordinate main control devices, wherein: one of the at least two manipulators is associated with each main control device, and each main control device is configured for carrying out a sequence control of the manipulator that is associated with the main control device, each of the main control devices includes a manipulator controller and an axis controller, the manipulator controllers are each configured for sending commands for controlling axes of the manipulator associated with a respective one of the main control devices to the axis controller of the one main control device, and the axis controller is configured for converting commands for controlling the axes into commands to be executed by converters for controlling actuators associated with axes of the manipulator, and the subordinate main control devices are spatially separate from one another, are set up in each case in their own housing, and in each case have an independent power supply, and a coordination control device that is spatially separate from the subordinate main control devices, is set up in its own housing, and has an independent power supply, wherein the coordination control device is configured for coordinating the sequence control of the at least two manipulators in such a way that a program sequence of the sequence controls takes place in a predetermined manner.

11. The manipulator system according to claim 10, wherein the subordinate main control devices of the coordination control device are associated in a chain topology or in a star topology.

12. The manipulator system according to claim 10, wherein a sequence control unit for each main control device includes planned path movements of the manipulator, which is associated with the main control device.

13. The manipulator system according to claim 7, wherein converters for controlling the actuators associated with the axes of the manipulators are associated with each manipulator, and the converters associated with each manipulator are set up in the housing of the main control device or secondary control device that is associated with the manipulator.

14. The manipulator system according to claim 7, wherein each manipulator includes converters for controlling the actuators associated with the axes of the manipulator, and each converter associated with one of the actuators is set up in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the manipulator.

15. The manipulator system according to claim 14, wherein at least one of a plurality of axis controllers is associated with each manipulator, and the at least one axis controller is situated on the manipulator in such a way that the at least one axis controller can be moved along with a movement of the manipulator.

16. The manipulator system according to claim 1, wherein at least one of the at least two manipulators is an industrial robot, and a second one of the at least two manipulators is set up on an axis of the industrial robot.

17. The manipulator system according to claim 5, wherein the manipulator system is configured in such a way that the coordination of the planned path movements of the manipulators takes place via an Ethernet-based bus connection.

18. The manipulator system according to claim 5, wherein the manipulator system is configured in such a way that the coordination of the planned path movements of the manipulators is carried out by means of real-time synchronization.

19. The manipulator system according to claim 1, wherein at least one of the axis controllers is an intelligent axis controller, and the intelligent axis controller includes axis angle control of the individual axes of the manipulator and a higher-level Cartesian control.

20. The manipulator system according to claim 1, wherein at least a second one of the at least two manipulators may be controlled regardless of a malfunction of a first one of the manipulators, and behaves in accordance with the sequence control.

Description

4. DESCRIPTION OF THE FIGURES

[0052] FIGS. 1 through 3 described below show preferred embodiments of the invention, as follows:

[0053] FIG. 1 shows a manipulator system for the coordinated control of at least two manipulators, including a main computer;

[0054] FIG. 2 shows a manipulator system for the coordinated control of at least two manipulators, including a main control device and a secondary control device, and

[0055] FIG. 3 shows a manipulator system for the coordinated control of at least two manipulators, including two subordinate main control devices and a coordination control device.

[0056] In particular, system components that are preferably designed as software are illustrated as rectangles with rounded corners in FIGS. 1 through 3. System components that are preferably designed as hardware are illustrated as rectangles with sharp corners.

[0057] FIG. 1 shows a manipulator system 100 whose design corresponds essentially to the manipulator system claimed in Claim 1. The manipulator system 100 is used for the coordinated control of at least two manipulators 101, 102. The manipulators 101, 102 shown are multiaxial manipulators having at least three axes. Such multiaxial manipulators 101, 102 usually have at least six axes. However, not all axes of the manipulators 101, 102 are shown on account of the schematic illustration of FIG. 1.

[0058] An actuator (not shown), which may be controlled by means of a converter 103a, 103b, 103c, 104a, 104b, 104c, is associated with each axis of a manipulator 101, 102. The number of converters used is not limited to the number of converters 103a, 103b, 103c, 104a, 104b, 104c illustrated; rather, one converter is typically associated with each actuator. The converter associated with an actuator is situated in the vicinity of the actuator in such a way that the converter can be moved along with a movement of the manipulator. The converters are typically situated on the manipulator arms, preferably in the manipulator arms. This arrangement is schematically illustrated by the dotted lines in FIG. 1. The converters 103a, 103b, 103c together form the converter assembly 103 of the manipulator 101, and the converters 104a, 104b, 104c together form the converter assembly 104 of the manipulator 102.

[0059] The illustrated manipulator system 100 includes a main computer 140 that is configured for carrying out a sequence control 109. The sequence control 109 includes planned path movements of the manipulators 101, 102 that have been planned by a user. A command switch 107 included in the main computer 140 is configured for sending commands of the sequence control to the manipulator controllers 101S, 102S of the manipulators 101, 102, and the manipulator controllers 101S, 102S are configured for converting the commands of the sequence control, including the planned path movements of the manipulators 101, 102, into commands for controlling the respective axes of the corresponding manipulators 101, 102.

[0060] The commands for controlling the axes are sent from the main computer 140 to manipulator controllers 101S, 102S via an Ethernet-based bus connection 130 and converted by the manipulator controllers 101S, 102S.

[0061] The manipulator controllers 101S, 102S then send commands for controlling the axes to the associated axis controllers 105, 106. The manipulator controllers 101S, 102S are set up in their own housings 150, 151, spatially separate from the main computer 140. The axis controllers 105, 106 typically include hardware and software, and are preferably situated in the vicinity of the associated manipulator, particularly preferably in such a way that the axis controllers 105, 106 (i.e., the hardware) can be moved along with a movement of the manipulator 101, 102. The axis controllers 105, 106 are configured for converting the commands for controlling the axes into converter commands.

[0062] FIG. 2 shows a manipulator system 200 whose design corresponds essentially to the manipulator system claimed in Claim 7. The manipulator system 200 is used for the coordinated control of at least two manipulators 201, 202. The manipulators 201, 202 shown are multiaxial manipulators having at least three axes.

[0063] The illustrated manipulator system 200 includes a main control device 250 that is associated with the manipulator 201. In addition, the manipulator system 200 includes a secondary control device 251 that is associated with the manipulator 202. The main control device 250 includes a sequence control 209, a command switch 207, and a manipulator controller 201S as well as at least one axis controller 205, and is configured for carrying out the sequence control 209. The command switch 207 is configured for sending commands of the sequence control 209 to the manipulator controllers 201S and 202S. The manipulator controller 201S sends commands for controlling the axes of the manipulator 201 to the axis controller 205, and the manipulator controller 202S sends commands for controlling the axes of the second manipulator 202 to the associated axis controller 206.

[0064] The axis controller 205 converts the commands for controlling the axes into converter commands, which are sent to the converter assembly 203. The converter assembly 203 includes the converters 203a, 203b, 203c of the actuators of the axes of the manipulator 201. The number of converters used is not limited to the number of converters 203a, 203b, 203c illustrated. Rather, one converter is typically associated with each actuator of the manipulator. In this variant, the converters 203a, 203b, 203c, together with the axis controller 205, the manipulator controller 201S, and the command switch 207, are preferably situated in the housing of the main control device 250.

[0065] The secondary control device 251 is associated with the manipulator 202. In particular, the secondary control device 251 is spatially separate from the main control device 250 and is set up in its own housing. The secondary control device 251 preferably has an independent power supply (not shown). The main control device 250 and the secondary control device 251 may thus be situated in the immediate vicinity of their associated manipulators 201, 202, and the power-conducting lines from the main control device 250 and/or the secondary control device 251 to the manipulators 201, 202 may have a correspondingly short design. Line losses are avoided in this way.

[0066] The secondary control device 251 includes a manipulator controller 202S and an axis controller 206, wherein the command switch 207 of the main control device 250 sends commands of the sequence control 209 to the manipulator controller 202S. The manipulator controller 202S sends commands for controlling the axes of the manipulator 202 to the axis controller 206. The axis controller 206 converts the commands for controlling the axes into converter commands, which are sent to the converter assembly 204. The converter assembly 204 includes the converters 204a, 204b, 204c of the actuators of the axes of the manipulator 202. The converters 204a, 204b, 204c together with the manipulator controller 202S and the axis controller 206 are preferably situated in the housing of the secondary control device 251.

[0067] The secondary control device 251 is associated with the main control device 250 via an Ethernet-based bus connection 230. The coordination of the planned path movements of the manipulators 201, 202 takes place in the command switch 207. The commands of the sequence control 209 are transmitted from the command switch 207 to the manipulator controller 202S via the Ethernet-based bus connection 230.

[0068] FIG. 3 shows a manipulator system 300 whose design corresponds essentially to the manipulator system claimed in Claim 10. The manipulator system 300 is used for the coordinated control of at least two manipulators 301, 302.

[0069] The illustrated manipulator system 300 includes two subordinate main control devices 350, 351, which are associated with one another by means of a coordination control device 320 via an Ethernet-based bus connection 330,331. The manipulator 301 is associated with the subordinate main control device 350, and the manipulator 302 is associated with the subordinate main control device 351. Each of the subordinate main control devices 350, 351 carries out a sequence control 309, 310 associated with the manipulators 301, 302.

[0070] The sequence control 309 includes planned path movements of the manipulator 301, and the sequence control 310 includes planned path movements of the manipulator 302. Each of the main control devices 351 includes its own manipulator controller 301S, 302S and its own axis controller 305, 306. The manipulator controllers 301S, 302S send commands for controlling the axes to the axis controllers 305, 306. The axis controllers 305, 306 convert the received commands for controlling the axes into converter commands, which are sent to the respective converter assemblies 303, 304. The converter assemblies 303, 304 include the converters 303a, 303b, 303c and the converters 304a, 304b, 304c, respectively, of the actuators of the manipulators 301, 302. The converters 303a, 303b, 303c and 304a, 304b, 304c together with the axis controllers 305, 306 are preferably situated in the respective housing of the subordinate main control devices 350, 351.

[0071] The subordinate main control devices 350, 351 are spatially separate from one another, preferably in the immediate vicinity of their associated manipulators 301, 302, are set up in each case in their own housing, and have an independent power supply (not illustrated). The subordinate main control devices 350, 351 and in particular the manipulator controllers 301S, 302S carry out the sequence controls 309, 310 of the manipulators 301, 302. Thus, an independent manipulator control device (main control device) is available for each of the manipulators 301, 302.

[0072] For coordinating the planned path movements of the manipulators 301, 302, the subordinate main control devices 350, 351 are connected to one another by means of a coordination control device 320 via an Ethernet-based bus connection 330, 331. The coordination control device 320 is also situated in its own housing 352, spatially separate from the subordinate main control devices 350, 351, and has an independent power supply (not shown). The coordination control device 320 coordinates the manipulators 301, 302 in such a way that the program sequence of the sequence controls 309, 310 takes place in a certain way.

[0073] This may be based on a previously determined time sequence, or on movement conditions of the manipulator movements, as described above. Likewise, the coordination control device 320 may intervene in the sequence controls 309, 310 as described above.

[0074] All manipulator systems 100, 200, 300 shown share the common feature that, due to the described arrangement of the individual components of the manipulator systems 100; 200; 300, it is possible to easily expand the manipulator systems with additional manipulators (not shown). The additional manipulators are incorporated into the existing manipulator system, and are preferably based on a star topology or based on a chain topology. In addition, arranging the components in independent housings allows any desired spatial arrangement of the components, and thus, a reduction in the required length of the power-conducting lines. This results in a robust manipulator that is less susceptible to malfunctions, and that has lower line losses.

LIST OF REFERENCE NUMERALS

[0075] 100; 200; 300 . . . manipulator systems [0076] 101, 102; 201, 202; 301, 302 . . . multiaxial manipulators [0077] 103, 104; 203, 204; 303, 304 . . . converter assemblies [0078] 103a-c, 104a-c; 203a-c, 204a-c; [0079] 303a-c, 304a-c... converters [0080] 105, 106; 205, 206; 305, 306 . . . axis controllers [0081] 107; 207; . . . command switches [0082] 101s; 102s; 201s; 222s; [0083] 301s; 302s. . . manipulator controllers [0084] 109; 209; 309, 310 . . . sequence controls [0085] 130; 230; 330, 331 . . . Ethernet-based bus connections [0086] 140 . . . main computer [0087] 150, 151 . . . housing of the manipulator [0088] controllers 101S, 102S [0089] 250 . . . main control device [0090] 251 . . . secondary control device [0091] 320 . . . coordination control device [0092] 352 . . . housing of the coordination control device [0093] 350, 351 . . . subordinate main control devices