DE102016013624A1 - Method and robot control for creating a path of a robot - Google Patents

Abstract

A method according to the invention for creating a web (B) of a robot (1) comprises the steps of: detecting (S30 - S60) a reference web mark (3; 3 '); andgenerating (S50) at least one path point (P) and / or modifying (S30, S50) at least one predetermined path point (P, P) and / or a predetermined path velocity and / or acceleration of the robot path based on the detected reference path mark.

Description

The present invention relates to a method and a robot controller for creating a path of a robot, a robot arrangement having a robot, a reference path marker and the robot controller, and a computer program product for carrying out the method.

In particular, for machining workpieces, such as for (laser or inert gas) welding, (laser) cutting, polishing, gluing, painting or the like, robot tracks must often be traversed very precisely.

According to in-house practice, robot tracks, in particular such robot tracks, have hitherto largely been programmed manually, in particular by manually controlled starting of individual track points, storage of these track points (so-called "teaching") and parameterization of a path speed and / or acceleration, in particular at such track points.

In this case, the robot often can not follow the path of a desired machining path exactly enough or can not maintain a desired, frequently constant, path velocity precisely enough, in particular due to its kinematics, in particular due to necessary reorientations or the like, due to its dynamics, in particular due to inertia and the like, and / or due to its control, for example due to the temporal processing of predetermined path points or the like.

In practice, therefore, this requires so far on the one hand a high level of expertise of the operator when creating the web and on the other hand often multiple correction loops.

The object of the present invention is to improve the creation of a web of a robot.

This object is achieved by a method having the features of claim 1. Claims 8-10 protect a robot controller or a computer program product for carrying out a method described here or a robot arrangement with a robot controller described here. The subclaims relate to advantageous developments.

• - Erfassen einer Referenzbahnmarkierung; und
• - Generieren von einem oder mehreren Bahnpunkten und/oder Modifizieren von einem oder mehreren vorgegebenen Bahnpunkten und/oder einer vorgegebenen Bahngeschwindigkeit und/oder -beschleunigung der Roboterbahn, insbesondere an einem oder mehreren Bahnpunkten der Roboterbahn, auf Basis dieser erfassten Referenzbahnmarkierung.

According to an embodiment of the present invention, a method for creating, in particular programming or specification, in particular generation and / or modification, of a path of a robot comprises the steps:

• - detecting a reference lane marker; and
• Generating one or more track points and / or modifying one or more predetermined track points and / or a predetermined track speed and / or acceleration of the robot track, in particular at one or more track points of the robot track, based on this detected reference track mark.

• - Mittel zum Erfassen einer Referenzbahnmarkierung; und
• - Mittel zum Generieren von einem oder mehreren Bahnpunkten und/oder Modifizieren von einem oder mehreren vorgegebenen Bahnpunkten und/oder einer vorgegebenen Bahngeschwindigkeit und/oder -beschleunigung der Roboterbahn, insbesondere an einem oder mehreren Bahnpunkten der Roboterbahn, auf Basis dieser erfassten Referenzbahnmarkierung.

According to one embodiment of the present invention, a robot controller, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has:

• - means for detecting a reference lane marker; and
• - means for generating one or more path points and / or modifying one or more predetermined path points and / or a predetermined path velocity and / or acceleration of the robot path, in particular at one or more track points of the robot path, based on this detected reference path marking.

By using a reference path marking, in one embodiment, the creation of the robot path can be improved, in particular simplified and / or accelerated and / or increased web trueness and / or a speed fluctuation can be reduced when driving off the web.

In one embodiment, the robot has at least four, in particular at least six, in particular at least seven, (motion, in particular rotational) axes. In particular, in such complex robots, an inventive creation of a robot path can be used with particular advantage.

In one embodiment, a path point depends on a pose of the robot and / or a position, in particular three-dimensional and / or Cartesian, and / or one, in particular three-dimensional, orientation of a robot-fixed reference, in particular a "Tool Center Point" ("TCPs") Robot, from, he can describe or define this particular.

In one embodiment, a robot path comprises one or more track points; in particular, it can be created or defined by its generation and / or modification.

In one embodiment, a path velocity depends on a change in pose of the robot with or over time and / or one, In particular, three-dimensional, translational and / or rotational speed of a robot-fixed reference, in particular a TCPs of the robot, from, in particular at one or more track points of the robot track or along the track, they can describe or specify this particular. In one embodiment, a path acceleration depends on a change in a path speed with respect to or over time, in particular, it can describe or indicate this.

In particular, a path point can be or are specified by starting with the robot and storing or by so-called teaching. Accordingly, a predetermined path point in an embodiment (on) is stored (he train point).

In one embodiment, in particular, the reference mark is temporarily or (only) temporarily and / or detachably, in particular cohesively, frictionally or magnetically, arranged on a surface, in particular a processing surface of a workpiece. In one development, the reference mark can in particular comprise one or more adhesive and / or magnetic strips or bands or the like, in particular consist thereof. Accordingly, in one embodiment, the releasably arranged reference path marking is released after the robot path has been created, wherein the reference path marking is damaged when it is loosened, in particular destroyed, or arranged to be non-destructively detachable or to be or can be configured or used for this purpose. In one embodiment, the reference path marking is elastic or flexible. As a result, in one embodiment, the specification of the robot path can be improved by means of a corresponding arrangement of the reference path marking, in particular simplified and / or visualized and / or checked for or by operating personnel.

In one embodiment, the robot track is a machining path with respect to or relative to, in particular, a workpiece surface, in particular a welding, cutting, polishing, adhesive, painting or the like. In such applications, the present invention may be used to particular advantage.

In one embodiment, the reference path marking is detected contactlessly, in particular electromagnetically, in particular optically, by means of a detection means or the robot control or arrangement has a detection means set up for this purpose or contactless, in particular electromagnetically, in particular optically, detecting or operating detection means. Additionally or alternatively, in one embodiment, the detection means, in particular temporarily or (only) temporarily and / or detachably, arranged on the robot and / or has an electromagnetic, especially optical, especially light, especially brightness and / or color-detecting or -sensitive, sensor, in particular 3D sensor, it may be in particular such a sensor.

In one embodiment, the reference marker has one or more optical and / or two-dimensional or three-dimensional, in particular geometric, markings, in particular brightness and / or color differences or boundaries, in particular (dark (re) or bright (re ) and / or colored and / or straight and / or mutually inclined) lines, surfaces or the like, (three-dimensional) elevations and / or depressions and / or, in particular straight and / or mutually inclined edges, and / or against each other two or three-dimensionally offset and / or inclined, in particular flat, surfaces, in particular a (optical and / or two- or three-dimensional, in particular geometric) pattern, in particular a (optical and / or two- or three-dimensional, in particular geometric) marking a (Reference) web (direction), one, in particular equidistant, (optical and / or two- or three-dimensional, in particular geometric) scale or subdivision of a Bah n (length) and / or (optical and / or two- or three-dimensional, in particular geometric) markings for, in particular non-contact, detection of deviations perpendicular to the web ((longitudinal) direction), in particular in a (reference, in particular basic) or support) level of the reference path marking and / or perpendicular thereto, and / or to, in particular non-contact, detection of an orientation relative to a web (longitudinal) direction and / or a (reference, in particular ground or support) level of the reference path marking ,

For example, S (kalens) tricks shorten according to an inclination against a line plane, so that the inclination can be determined therefrom. By (a) three-dimensional, in particular geoemtric, marking (s) or pattern, in one embodiment, in particular a distance perpendicular to a reference, in particular base or support) level of the reference path marking and / or orientation be determined relative to this advantageous. A three-dimensional pattern or three-dimensional marking (s) can be produced in one embodiment, in particular by mastering and / or reshaping the reference web marking, for example spraying, embossing, thermoforming or the like. In one embodiment, the three-dimensional patterned reference mark has a height which is at least 0.5 mm, in particular at least 1.0 mm, and / or at most 10 mm, in particular at most 5 mm, which is an inventive use, in particular detection and / or arrangement, may be particularly advantageous.

By a non-contact, in particular electromagnetic, in particular optical detection this can be improved in one embodiment, in particular their speed and / or precision increased and / or mechanical loading of the reference path mark can be avoided. By a temporary and / or (non-destructive) detachable arrangement, in particular fastening, on the robot, the detection means can be used according to the invention in an embodiment when not needed, in particular in a normal operation, and / or used alternately in a plurality of robots.

• - Ermitteln von einer oder mehreren, insbesondere dreidimensionalen und/oder kartesischen, Positionen und/oder einer oder mehreren, insbesondere dreidimensionalen, Orientierungen und/oder einer Bahngeschwindigkeit, insbesondere an einem oder mehreren Bahnpunkten der Roboterbahn, einer roboterfesten Referenz, insbesondere eines TCPs des Roboters, relativ zu der erfassten Referenzbahnmarkierung, insbesondere in einem vorgegebenen Suchstartpunkt oder dem bzw. einem oder mehreren der vorgegebenen Bahnpunkt(e); und
• - Generieren des bzw. der Bahnpunkte und/oder Modifizieren des bzw. der vorgegebenen Bahnpunkte der Roboterbahn und/oder der vorgegebenen Bahngeschwindigkeit und/oder-beschleunigung zum Reduzieren, insbesondere Minimieren, einer Abweichung der (Position(en) und/oder Orientierung(en) der) roboterfesten Referenz von einer oder mehreren durch die Referenzbahnmarkierung definierten Referenzpositionen und/oder -orientierungen und/oder einer Abweichung der ermittelten von der bzw. den vorgegebenen Bahngeschwindigkeit bzw. so, dass diese Abweichung(en) hierdurch reduziert, insbesondere minimiert wird/werden.

In one embodiment, the method comprises the steps:

• Determining one or more, in particular three-dimensional and / or Cartesian, positions and / or one or more, in particular three-dimensional, orientations and / or a path velocity, in particular at one or more track points of the robot path, a robot-fixed reference, in particular a TCP of the robot relative to the detected reference mark, in particular at a predetermined search start point or the one or more predetermined path point (s); and
• Generating the track point or points and / or modifying the track point (s) of the robot track and / or the predefined path speed and / or acceleration to reduce, in particular minimize, a deviation of the position (s) and / or orientation (s) ) of) the robot-fixed reference of one or more reference positions and / or orientations defined by the reference path marking and / or a deviation of the determined from the predetermined path velocity or such that this deviation (s) is thereby reduced, in particular minimized / become.

• - Mittel zum Ermitteln von einer oder mehreren, insbesondere dreidimensionalen und/oder kartesischen, Positionen und/oder einer oder mehreren, insbesondere dreidimensionalen, Orientierungen und/oder einer Bahngeschwindigkeit, insbesondere an einem oder mehreren Bahnpunkten der Roboterbahn, einer roboterfesten Referenz, insbesondere eines TCPs des Roboters, relativ zu der erfassten Referenzbahnmarkierung, insbesondere in einem vorgegebenen Suchstartpunkt oder dem bzw. einem oder mehreren der vorgegebenen Bahnpunkt(e); und
• - Mittel zum Generieren des bzw. der Bahnpunkte und/oder Modifizieren des bzw. der vorgegebenen Bahnpunkte der Roboterbahn und/oder der vorgegebenen Bahngeschwindigkeit und/oder-beschleunigung zum Reduzieren, insbesondere Minimieren, einer Abweichung der (Position(en) und/oder Orientierung(en) der) roboterfesten Referenz von einer oder mehreren durch die Referenzbahnmarkierung definierten Referenzpositionen und/oder -orientierungen und/oder einer Abweichung der ermittelten von der bzw. den vorgegebenen Bahngeschwindigkeit bzw. so, dass diese Abweichung(en) hierdurch reduziert, insbesondere minimiert wird/werden.

Accordingly, the robot controller has in one embodiment:

• - means for determining one or more, in particular three-dimensional and / or Cartesian, positions and / or one or more, in particular three-dimensional, orientations and / or a path speed, in particular at one or more track points of the robot path, a robot-fixed reference, in particular a TCPs the robot, relative to the detected reference mark, in particular in a predetermined search starting point or the or one or more of the predetermined path point (s); and
• Means for generating the track point (s) and / or modifying the track point (s) of the robot track and / or the predetermined track speed and / or acceleration to reduce, in particular minimize, a deviation of the position (s) and / or orientation (s) of the robot-fixed reference of one or more reference positions and / or orientations defined by the reference path marking and / or a deviation of the determined from the predetermined path velocity or such that this deviation (s) is thereby reduced, in particular minimized will be.

In one embodiment, the modification of a predefined path point can take place by changing the corresponding path point, in particular storing the changed path point or a correction value. In one embodiment, the modification of a predetermined path speed or acceleration can take place by changing correspondingly predetermined speed or acceleration parameters, in particular storing the changed parameter values or correction values.

In one embodiment, a reference position defined by the reference lane marking may lie on a reference lane defined by the reference lane marker itself or with a given, in particular constant, (positional and / or orientation) offset, in particular perpendicular to the reference lane and / or a (reference) plane of the reference path marking, for example, to create a robot path at a (constant) distance from the reference path (mark). In one embodiment, a reference orientation defined by the reference path marking may describe or indicate a predetermined angle to a (reference) path and / or (reference) plane of the reference path marking, in particular a vertical angle or the like.

In one embodiment, a predetermined web speed is a constant web speed, which may be particularly advantageous in the case of the already mentioned welding, cutting, polishing, adhesive, paint or similar webs or applications. A path velocity relative to the detected reference marker can be made in one embodiment by detecting the same marker (s) of the reference marker at different times and corresponding quotient formation.

By generating path points, in one embodiment, in particular starting from a (approached or predetermined) search starting point, the method or the robot can automatically generate the path by detecting and tracing the reference path marking.

In one embodiment, by modifying predetermined path points, in one embodiment, a robot path initially only roughly taught can be subsequently, in particular automatically, optimized, in particular so to speak, "pulled" onto a reference or desired path defined by the reference path marking.

By modifying a predetermined path speed, in one embodiment, in particular, a uniform path velocity can be realized and / or kinematics, in particular necessary reorientations or the like, dynamics, in particular inertias and the like, and / or control, for example the time processing of predetermined path points or the like Robot are taken into account. Thus, in a simple example, by increasing or reducing a predetermined or desired speed at a track point, shifting this track point along the track and / or generating a further track or auxiliary point, an undesirable speed jump, in particular collapse and / or rise, on, before and / or after the point of the track reduced, preferably avoided.

• - Abfahren der Roboterbahn mit dem bzw. den generierten und/oder modifizierten Bahnpunkt(en) und/oder der modifzierten Bahngeschwindigkeit und/oderbeschleunigung und/oder einer herunterskalierter Bahngeschwindigkeit und/oder - beschleunigung; Ermitteln von wenigstens einer Position und/oder Orientierung und/oder einer Bahngeschwindigkeit der roboterfesten Referenz relativ zu der erfassten Referenzbahnmarkierung bei diesem Abfahren; und, insbesondere abwechselnd:
• - Modifizieren des bzw. eines oder mehrerer der vorgegebenen Bahnpunkte der Roboterbahn und/oder der vorgegebenen Bahngeschwindigkeit und/oder - beschleunigung zum Reduzieren, insbesondere Minimieren, einer Abweichung der roboterfesten Referenz von einer oder mehreren durch die Referenzbahnmarkierung definierten Referenzposition(en) und/oder-orientierung(en) und/oder einer Abweichung der ermittelten von der vorgegebenen Bahngeschwindigkeit bzw. so, dass diese Abweichung(en) hierdurch reduziert, insbesondere minimiert wird/werden.

In one embodiment, the method comprises the steps: in particular multiple:

• Traversing the robot path with the generated and / or modified path point (s) and / or the modified path velocity and / or acceleration and / or a scaled down path velocity and / or acceleration; Determining at least one position and / or orientation and / or a path velocity of the robot-fixed reference relative to the detected reference path marker during said traverse; and, in particular alternately:
• Modifying the one or more of the predetermined path points of the robot path and / or the predetermined path velocity and / or acceleration for reducing, in particular minimizing, a deviation of the robot-fixed reference from one or more reference positions defined by the reference path marking and / or -orientation (s) and / or a deviation of the determined from the predetermined path speed or so that this deviation (s) is thereby reduced, in particular minimized / are.

Accordingly, in one embodiment, the robot controller has means for, in particular multiple, traversing the robot path with the generated and / or modified path point (s) and / or the modified path velocity and / or acceleration and / or a downscaled path velocity and / or or acceleration; Determining at least one position and / or orientation and / or a path velocity of the robot-fixed reference relative to the detected reference path marker during said traverse; and, in particular alternating, modifying the one or more of the predetermined path points of the robot path and / or the predetermined path velocity and / or acceleration to reduce, in particular minimize, a deviation of the robot-fixed reference from one or more reference positions defined by the reference path marking ) and / or orientation (s) and / or a deviation of the determined from the predetermined path speed or so that this deviation (s) is thereby reduced, in particular minimized / are.

As a result, in one embodiment, the robot path can be created iteratively and / or, in any case, insofar as it is automated or at least with regard to these steps. In particular, by modifying, in particular multiple and / or alternating, path points, and speed and / or acceleration, the robot path can be adapted to a dynamics of the robot and / or a robot control or optimized with respect thereto. By traversing with downscaled web speed, in particular downscaled modified web speed, in particular by a scaling or override factor of less than one or the like, web trueness can advantageously be tested in one embodiment and optionally improved by path point modification. A down-scaled path speed therefore results in an embodiment by multiplying a predetermined, possibly already modified, path speed by a factor of less than one and greater than zero.

• - Vorgeben eines Abbruchkriteriums, insbesondere einer maximal zulässigen Iterationszahl, einer erforderlichen Bahnfolgegenauigkeit, einer erforderlichen Geschwindigkeitsgenauigkeit und/oder einem maximal zulässigen und/oder minimal zulässigen Verhältnis zwischen Bahnfolge- und Geschwindigkeitsgenauigkeit; und
• - Abspeichern, Ausgeben und/oder Abfahren des bzw. der generierten und/oder modifizierten Bahnpunkte und/oder der modifizierten Bahngeschwindigkeit und/oder -beschleunigung, insbesondere der (solcherart) erstellten Bahn mit diesem bzw. diesen Bahnpunkten und/oder dieser Bahngeschwindigkeit und/oder -beschleunigung, in Abhängigkeit von dem Abbruchkriterium, insbesondere bei bzw. nach dessen Eintreten.

In one embodiment, the method comprises the steps:

• - Specifying a termination criterion, in particular a maximum allowable iteration number, a required tracking accuracy, a required speed accuracy and / or a maximum allowable and / or minimum allowable ratio between tracking and speed accuracy; and
• Storing, outputting and / or traversing the generated and / or modified track points and / or the modified track speed and / or acceleration, in particular the (thus) created track with this or these track points and / or this orbit speed and / or acceleration, depending on the termination criterion, in particular during or after its occurrence.

• - Mittel zum Vorgeben eines Abbruchkriteriums, insbesondere einer maximal zulässigen Iterationszahl, einer erforderlichen Bahnfolgegenauigkeit, einer erforderlichen Geschwindigkeitsgenauigkeit und/oder einem maximal zulässigen und/oder minimal zulässigen Verhältnis zwischen Bahnfolge- und Geschwindigkeitsgenauigkeit; und
• - Mittel zum Abspeichern, Ausgeben und/oder Abfahren des bzw. der generierten und/oder modifizierten Bahnpunkte und/oder der modifizierten Bahngeschwindigkeit und/oder -beschleunigung, insbesondere der (solcherart) erstellten Bahn mit diesem bzw. diesen Bahnpunkten und/oder dieser Bahngeschwindigkeit und/oder -beschleunigung, in Abhängigkeit von dem Abbruchkriterium, insbesondere bei bzw. nach dessen Eintreten.

Accordingly, the robot controller has in one embodiment:

• - Means for setting a termination criterion, in particular a maximum allowable iteration number, a required tracking accuracy, a required speed accuracy and / or a maximum allowable and / or minimum allowable ratio between Bahnfolge- and speed accuracy; and
• Means for storing, outputting and / or traversing the generated and / or modified track points and / or the modified track speed and / or acceleration, in particular the (thus) created track with this or these track points and / or this track speed and / or acceleration, depending on the termination criterion, in particular at or after its occurrence.

In one embodiment, a path following accuracy may depend on a, in particular maximum and / or average or averaged, deviation of the robot-fixed reference from reference positions and / or orientations defined by the reference path marking, indicating these in particular, a required path sequence accuracy corresponding in particular to a maximum permissible, In particular, maximum and / or average or averaged deviation of the robot-fixed reference from reference positions and / or orientations defined by the reference path marking can be predetermined or determined.

In one embodiment, a speed accuracy may depend on, in particular, a maximum and / or average or averaged deviation of the web speed from a predetermined web speed or an average of the web speed or a (maximum or average) variation of the web speed; a required speed accuracy corresponding to, in particular, a maximum permissible, in particular maximum and / or average or averaged, deviation of the web speed from a predetermined web speed or an average value of the web speed or a (maximum or average) variation of the web speed can be predetermined or determined; . become.

By weighting or specifying a ratio between the track sequence and the speed accuracy or variation, an optimal robot path for the respective application can be created in one embodiment. Thus, for example, in the case of a coating web, the variation of the web speed, which is decisive for a uniform ink application, can be weighted more heavily than a tracking accuracy which has less influence on the coating result due to a blurred spray mist. Conversely, for example, in a cutting path where the precision of the cut is critical, the tracking accuracy is more weighted than speed accuracy.

A maximum and / or minimum ratio between path sequence and speed accuracy can be specified or set in a development by a, in particular hardware or software technology implemented, slider.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein so that the CPU may perform the steps of such methods and thus, in particular, create the robotic path or control the robot to create and / or exit that path.

In one embodiment, one or more, in particular all, steps of the method are completely or partially automated, in particular by the robot controller or its means.

• 1: einen Teil einer Roboteranordnung mit einer Robotersteuerung zur Erstellung einer Bahn eines Roboters der Roboteranordnung nach einer Ausführung der vorliegenden Erfindung;
• 2: ein Verfahren zur Erstellung der Roboterbahn nach einer Ausführung der vorliegenden Erfindung; und
• 3:einen Teil einer Referenzbahnmarkierung einer Roboteranordnung zur Erstellung einer Bahn eines Roboters der Roboteranordnung nach einer weiteren Ausführung der vorliegenden Erfindung in perspektivischer Ansicht.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized ,:

• 1 a portion of a robot assembly having a robot controller for creating a trajectory of a robot of the robot assembly according to an embodiment of the present invention;
• 2 : A method of creating the robot path according to an embodiment of the present invention; and
• 3 FIG. 2: a part of a reference path marking of a robot arrangement for creating a path of a robot of the robot arrangement according to a further embodiment of the present invention in a perspective view. FIG.

1 shows a part of an arm of a robot 1 a robot assembly in a pose (drawn in 1 ) as well as in two further poses (dashed in 1 ) and a robot controller 2 for creating a web of the robot and controlling the robot to run this web.

The robot assembly further includes a reference mark in the form of a two-dimensional patterned adhesive strip 3 temporarily in a step S10 on a processing surface of a workpiece 4 is glued on.

The robot assembly further comprises a detection means in the form of a 3D optical sensor 5, which in step S10 temporarily on the arm of the robot 1 is attached and with the robot controller 2 is wireless or wired communicates or signal-connected, in particular via a drive bus interface or an interface comparable speed.

The robot controller 2 may generally be an integral or distributed controller or have one or more computers, in particular a (actual) robot (drive) control system for controlling the robot (arms) or its drives and an integrated module or a wireless or wired communicating or signal-connected (further) computer, in particular for evaluating signals of the 3D sensor 5 and / or at least partially performing the method, in particular one or more of the steps S10 - S70 described below.

The reference track marker 3 Through its equidistant scaled centerline gives a desired machining path B on the editing interface 4 in front. By the pattern or its detection can also by means of the 3D sensor 5 deviations in both the reference plane of the adhesive strip 3 or the drawing level of the 1 and (by means of optical distortions, in particular truncations, and the like) perpendicular thereto and an orientation relative to the adhesive strip 3 be recorded.

In a step S20, the two dashed poses are approached and the two in 1 marked course points P ₁₀ , P ₂₀ given, ie roughly taught. In particular, these may include, in particular, positions and / or orientations of a TCP, for example a focus and / or an effective axis of a robot-guided laser welding or cutting tool, a reference (working) point and / or a reference (working point). or -wirk) axis of a robot-controlled painting, polishing or adhesive tool or the like.

Then the robot controller drives 2 in a step S30, thereby initially only roughly teteachte robot track in the form of a straight line between these two path points P ₁₀ , P ₂₀ with a web speed from one, for example, for welding, cutting, gluing, painting, polishing or the like, by parameterization in Step S20 is scaled down predetermined predetermined path speed, and recorded by means of the 3D sensor 5 optically the reference path marking 3 ,

It determines position and / or orientation deviations relative to the reference path marking 3 for example, Cartesian deviations from a point closest to the respective track point on the center line B both in the (reference) plane of the reference lane marker 3 (Plane of the 1 ) as well as perpendicular thereto, as in 1 by deviation (svector) s Δ indicated.

Subsequently, the robot controller corrects 2 in step S30, the (roughly taught) robot path, by the (roughly taught) path points P ₁₀ , P ₂₀ corresponding to the deviation vectors Δ modified, in particular the deviation (svector) s Δ added to the predetermined path points P ₁₀ , P ₂₀ .

In a step S40, the robot controller moves 2 the thus modified robot track B with the modified predetermined path points again with the downscaled path velocity and checks the tracking accuracy or (remaining) maximum and / or average deviations from the center line of the reference marker 3 ,

If a predetermined required trajectory accuracy is not achieved or determined (S40: "N"), the steps S30, S40, possibly several times, are repeated until this is the case or a maximum iteration number has been reached.

As soon as the predetermined required trajectory accuracy is reached (or reaches the maximum iteration number) (S40: "Y"), the robot controller moves 2 proceed to step S50.

In this it increases the previously downscaled predetermined constant path speed, step by step if necessary, and drives the modified robot track B at this line speed.

She checks a speed accuracy. If a maximum or average variation of the web speed exceeds a predetermined maximum permissible limit value, the robot controller modifies 2 in step S50, the predetermined path speed, for example, by adjusting speed parameters in the modified path points accordingly. In the exemplary embodiment, the generation of a further (auxiliary) path point P ₁₅ between the two modified path points P ₁₀ + is also exemplary Δ , P ₂₀ + Δ indicated. By inserting such a track point and, accordingly, while traversing the track from the robot controller 2 is also an undesirable speed variation between the modified path points P ₁₀ + Δ , P ₂₀ + Δ reduced or a web speed can be modified. Likewise, for modification of the predetermined path speed, for example, the modified path points P ₁₀ , P _{20 can be} along the path B be moved so that they are processed at departure of the created or programmed path according to earlier or later.

After possibly the predetermined web speed has been modified in step S50, moves the robot controller 2 in step S60, the modified robot path B with the optionally modified web speed and checks on the one hand the tracking accuracy or (remaining) maximum and / or average deviation from the center line of the reference track marker 3 and, on the other hand, a ratio of web-to-speed accuracy.

If both the required trajectory accuracy and the predetermined range for the track following and the speed accuracy are maintained (S60: "Y"), the modified robot trajectory becomes S70 in a step S70 B with the generated path point P ₁₅ and the modified path points P ₁₀ + Δ , P ₂₀ + Δ as well as the optionally modified web speed are stored and output as track points or speed of the robot track thus created.

The robot path thus created can now be controlled by the robot controller 2 in normal operation for machining workpiece surfaces 4 be traversed, in particular, after the adhesive strip 3 has been removed (step S80).

As long as the required trajectory accuracy or the predetermined relationship between trajectory and speed accuracy and also a maximum iteration number has not yet been reached (S60: "N"), which were predetermined in step S10, the modification of the track points (step S30) and or the web speed (step S50), optionally alternately, repeated as in 2 only schematically indicated by the return to step S30.

It can be seen that even operators without great expertise can easily and precisely create a welding, cutting, gluing, painting, polishing or similar (robot) web with a correspondingly uniform path speed by means of the adhesive strip 3 mounted on the workpiece surface and the robot track is coarsely taught by approaching the points P ₁₀ , P ₂₀ , while the subsequent iterative modification of the track points and speed is automated.

3 shows in perspective view part of a reference mark of a robot arrangement for creating a trajectory of a robot of the robot assembly according to another embodiment of the present invention, which corresponds to explained below differences of the embodiment described above, so that reference is made to them and only to the differences will be received.

In the execution of 3 the reference mark is a three-dimensionally patterned adhesive tape 3. ' formed having geometric depressions or elevations with a height (or depth) of about 2-3 mm.

Also the reference track marker 3. ' Gives a desired machining path through its (three-dimensional) equidistant scaled centerline B on the editing interface 4 in front. By means of the three-dimensional pattern or its detection, it is also possible, by means of the 3D sensor 5, for deviations in the reference or base or support plane of the adhesive tape 3. ' or the drawing level of the 1 and (by means of 3D edges, optical distortions, in particular shortenings, and the like) perpendicular thereto and / or an orientation relative to the adhesive tape 3. ' be detected advantageous.

As with the two-dimensional pattern of the adhesive strip 3 (see. 1 ) can be seen in the three-dimensional pattern of the adhesive tape 3. ' perpendicular to the center line spacing lines A , in particular for detecting the web speed, and alternating auxiliary lines H , in particular for detecting a path curvature.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible.

For example, instead of the (coarse) teach of the robot path, only one search start point can be approached and the robot controller, starting from this, by detecting and descending (the center line) of the adhesive strip 3 Generate corresponding track points.

It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

1

Robot (arm)

2

robot control

3

patterned adhesive strip (reference mark)

3 '

Adhesive tape with three-dimensional pattern (reference mark)

4

Workpiece (surfactant)

5

3D sensor (detection means)

A

distance line

B

robot path

H

ledger line

P ₁₀ - P ₂₀

TCP position

Δ

deviation

Claims (10)

A method of creating a web (B) of a robot (1), comprising the steps of: - detecting (S30 - S60) a reference web mark (3; 3 '); and - generating (S50) at least one path point (P ₁₅ ) and / or modifying (S30, S50) at least one predetermined path point (P ₁₀ , P ₂₀ ) and / or a predetermined path velocity and / or acceleration of the robot path based on the detected reference mark. Method according to Claim 1 , characterized in that the reference mark (3, 3 ') is arranged temporarily and / or detachably on a surface, in particular a processing surface of a workpiece (4). Method according to one of the preceding claims, characterized in that the reference track marking (3; 3 ') is detected by means of a detection means (5) which records the reference track marking without contact and / or, in particular temporarily and / or detachably, on the robot (1). is arranged. Method according to one of the preceding claims, characterized in that the reference mark (3, 3 ') has at least one optical and / or two-dimensional or three-dimensional, in particular geometric, marking. Method according to one of the preceding claims, characterized by the steps: - determining (S30 - S60) of at least one position and / or orientation and / or a path velocity of a robot-fixed reference relative to the detected reference path marking, in particular in a predetermined search starting point or the predetermined path point ; and - generating (S50) the web spot and / or modifying (S30, S50) the predetermined web spot of the robot web and / or the predetermined web speed and / or acceleration to reduce, in particular minimize, a deviation (Δ) of the robot-fixed reference from at least one Reference position and / or orientation defined by the reference path marking and / or a deviation of the determined path velocity from the predetermined path velocity. Method according to the preceding claim, characterized by the steps: in particular multiply: - traversing (S40 - S60) the robot path (B) with the generated and / or modified path point and / or the modified and / or scaled down path speed and / or acceleration; Determining at least one position and / or orientation and / or a path velocity of the robot-fixed reference relative to the detected reference path marker during said traverse; and in particular alternately: modifying (S30, S50) the predetermined path point of the robot path and / or the predetermined path velocity and / or acceleration to reduce, in particular minimize, a deviation (Δ) of the robot-fixed reference from at least one reference position defined by the reference path marking and / or orientation and / or a deviation of the determined from the predetermined path velocity. Method according to one of the preceding claims, characterized by the steps: Predetermining (S10) a termination criterion, in particular a maximum permissible iteration number, a required path sequence accuracy, a required speed accuracy and / or a maximum permissible and / or minimum permissible ratio between path and speed accuracy; and - storing, outputting and / or traversing (S70, S80) the generated web spot and / or the modified web point and / or the modified web velocity and / or acceleration as a function of the abort criterion. Robot controller (2) for creating a web (B) of a robot (1) which is set up for carrying out a method according to one of the preceding claims and / or comprising: - means for detecting a reference web marking (3; 3 '); and - means for generating at least one path point (P ₁₅ ) and / or modifying at least one predetermined path point (P ₁₀ , P ₂₀ ) and / or a predetermined path velocity and / or acceleration of the robot path based on the detected reference path marker. A robot assembly comprising a robot (1), a reference lane marker (3; 3 '), and a robot controller (2) for controlling the robot to create and launch a lane according to any one of the preceding claims. A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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