EP3541586A1

EP3541586A1 - Method and robot control system for creating a path of a robot

Info

Publication number: EP3541586A1
Application number: EP17803850.1A
Authority: EP
Inventors: Burkhard Stimmel
Original assignee: KUKA Deutschland GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2016-11-15
Filing date: 2017-11-13
Publication date: 2019-09-25
Also published as: WO2018091411A1; DE102016013624A1; CN211541228U

Abstract

The invention relates to a method for creating a path (B) of a robot (1) comprising the following steps: sensing (S30 - S60) a reference path marking (3; 3'); and modifying (S30, S50) at least one specified path point (P₁₀, P₂₀) and/or one specified path velocity and/or path acceleration of the robot path and/or generating (S50) at least one path point (P₁₅) on the basis of the sensed reference path marking.

Description

description

Method and robot control for creating a path of a robot

The present invention relates to a method and a robot controller for creating a trajectory of a robot, a robot assembly having a robot, a reference trajectory marker and the robot controller, and a robot controller

Computer program product for carrying out the method.

In particular, for machining workpieces, such as the (laser or

Inert gas welding, (laser) cutting, polishing, gluing, painting or the like, robot tracks often have to be driven very precisely. After internal practice robot tracks, especially those

Robot tracks, so far largely manually programmed, in particular by manually controlled approaching individual track points, storing these track points (so-called "teaching") and parameterizing a web speed and / or - acceleration, especially at such track points Machining track closely enough or not comply with a desired, often constant, web speed accurately enough, especially due to its kinematics, especially 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 temporal execution of predetermined path points or the like.

In practice, therefore, this requires a high degree of expertise in the field

Operating staff when creating the track 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.

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

Modifying one or more predetermined path points and / or a predetermined path velocity and / or acceleration of the

Robot track, in particular at one or more track points of the

Robot track, on the basis of this detected reference track marking and / or generating one or more track points based on this detected reference mark, in an embodiment in addition to, in particular between, given, in particular modified, or adding or adding one or more track points additional track points based on this detected reference track marker in addition to, in particular between, the predetermined track points. 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 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

Robot track, on the basis of this detected reference track marking and / or for generating one or more track points based on this detected reference track marker, in an embodiment in addition to, in particular between, (predetermined), in particular modified, track points or

Add or add one or more additional train points on the basis of this detected reference mark in addition to, in particular between, the predetermined path points.

By using a reference mark in one embodiment, the creation of the robot path can be improved, in particular simplified and / or

accelerates and / or increases track fidelity and / or one

Speed variation when moving off the web can be reduced.

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. Accordingly, in one embodiment, creating a trajectory of a robot may include modifying a (already) predetermined trajectory of the robot by modifying predetermined trajectories

and / or speeds and / or accelerations, in particular.

In one embodiment, a path velocity depends on a change in the position of the robot with or over time and / or a, in particular three-dimensional, translational and / or rotational speed of a robot-fixed reference, in particular a TCP of the robot, in particular at one or more path points the robot path or along the path, 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 given path point in one embodiment is a stored path 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 by means of

corresponding arrangement of the reference track marker improved, in particular simplified and / or visualized for and by operating personnel and / or checked.

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 without contact, in particular electromagnetically, in particular optically, by means of a detection means, or the robot control or arrangement has a set-up or set-up for this purpose.

non-contact, in particular electromagnetic, in particular optically, detecting or working 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, in particular light, in particular brightness and / or color-detecting or -sensitive, sensor, in particular SD sensor on, it may in particular be 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 limits, 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-dimensional or three-dimensional, in particular geometric) pattern, in particular a (optical and / or two- or three-dimensional, in particular geometric) marking of a (reference) web (direction), one, in particular equidistant, ( optical and / or two-dimensional or three-dimensional, in particular geometric) scale or subdivision of a web (length) and / or (optical and / or two-dimensional 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 base or support) plane of the reference web marking and / or perpendicular thereto, and / or to, in particular non-contact, Detecting an orientation relative to a web (longitudinal) direction and / or a (reference, in particular basic or

Overlay) level of the reference lane marker.

For example, S (kalens) tricks shorten according to an inclination against a line plane, so that the inclination can be determined therefrom. By (one) three-dimensional, in particular geoemetric, marking or patterns, in one embodiment, in particular a distance perpendicular to a reference,

in particular base or support) level of the reference track marking and / or an orientation relative to this advantageously be determined. A three-dimensional pattern or three-dimensional mark (s) can in one embodiment

in particular by original and / or reshaping of the reference mark, for example, spraying, embossing, thermoforming or the like, be prepared or be. In one embodiment, the three-dimensionally patterned

Reference mark on a height of 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 may be particularly advantageous for an inventive use, in particular detection and / or arrangement.

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

Avoiding the reference markers are 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.

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 track, a robot-fixed reference, in particular a TCPs of the robot, relative to the detected reference path marker, in particular in a predetermined search starting point or one or more of the predetermined

Path point (s); and

Modifying the predetermined orbit points of the robot path and / or the predetermined path velocity and / or acceleration for

Reducing, in particular minimizing, a deviation of the (position) and / or orientation (s) of the robot-fixed reference from one or more reference positions and / or orientations defined by the reference path marking and / or a deviation of the determined from the one or more given path speed or so that this deviation (s) is thereby reduced, in particular minimized / and / or generating the or, in particular additional, track points for reducing, in particular minimizing, a deviation of (position (s) and / or Orientation (s) of the robot-fixed reference of one or more through the

Referenzbahnmarkierung defined reference positions and / or orientations and / or a deviation of the determined from the predetermined or Path speed or so that this deviation (s) thereby reduced, in particular minimized / are.

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 of 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 modifying the or the predetermined path points of the robot path and / or the predetermined path speed and / or acceleration and / or generating the track or points for reducing, in particular minimizing, a deviation of the (position) and / or orientation (s) of the robot-fixed reference of one or more by the

Reference track marking defined reference positions and / or orientations and / or a deviation of the determined from the or the predetermined path speed or so that this deviation (s) thereby reduced, in particular minimized is / are.

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. Modifying a predetermined path speed or acceleration can in one embodiment by changing according to 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 marking itself or with respect to such a predetermined, in particular constant, (position and / or orientation) offset, in particular perpendicular to the reference lane and / or a (reference) level of Reference mark have to create, for example, a robot path at a (constant) distance to the reference path (mark). In one embodiment, a reference orientation defined by the reference path marking may describe or specify a given angle to a (reference) path and / or (reference) plane of the reference path marking, in particular one

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 detect the path by detecting and descending the

Create reference mark automatically.

By generating path points in addition to, in particular, between (already) predetermined path points, the predefined robot path or path speed can be modified particularly advantageously in one embodiment.

In one embodiment, or is based on or by the given

Track points predetermined the robot path even before detecting the reference lane markers, in particular stored, in an embodiment by manual teaching or automatically by an initial generation of track points by detecting and descending the reference lane markers.

By modifying predetermined path points can thus in a

Execution one, especially initially only roughly taught, robot track

subsequently, in particular automatically, optimized, in particular, as it were, to a reference or desired path defined by the reference path marking

"to be pulled. 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 speed at a track point, shifting that track point along the track and / or

Generation of another or additional railway or auxiliary point

undesirable speed jump, in particular collapse and / or increase, to, before and / or after the point of the point reduced, preferably avoided.

In one embodiment, the method comprises the steps: in particular multiply or iteratively:

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 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 to reduce, in particular minimize, a deviation of the robot-fixed reference from one or more by the

Reference track marking defined reference position (s) and / or - orientation (s) and / or a deviation of the determined from the predetermined path velocity 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 marking during this shutdown; and, in particular alternating, modifying the one or more of the predetermined track points of the robot track and / or the predetermined path speed and / or acceleration for reducing, in particular minimizing, one

Deviation of the robot-fixed reference from one or more by the

Referenzbahnmarkierung defined reference position (s) and / or orientation (s) and / or a deviation of the determined from the predetermined

Path speed or so that this deviation (s) 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 the predetermined or modified and / or traversing with the downscaled web speed, in particular traversing with the scaled-down modified web speed, in particular (in each case) by a scaling or override factor of less than one or the like, in one embodiment the

Track loyalty tested advantageous and possibly improved by Bahnpunktmodifikation. 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. In one embodiment, the robotic path becomes in this iterative process

- one or more times, in particular at least once initially, with the

generated or modified train points and one (opposite a

Working speed) reduced, in particular scaled down

predetermined or modified, web speed traveled, in particular in order to estimate the track fidelity, and optionally modified in one embodiment, one or more track points and / or, in particular alternately thereto, a web speed and / or acceleration modified; and or - one or more times, in particular at least once concluding, with the generated or modified track points and one or the (full)

Working speed, in particular the predetermined or modified, no (more) downscaled web speed, traversed, in particular (even) while the track accuracy to examine, and in one embodiment optionally one or more track points modified and / or, in particular alternately thereto, a web speed and / or acceleration modified.

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 Bahnfolge- and

Speed accuracy; and

Storing, outputting and / or traversing the generated and / or modified trajectory points and / or the modified trajectory speed and / or acceleration, in particular of the trajectory (s) created with this trajectory point and / or trajectory speed and / or or -acceleration, depending on the termination criterion, in particular at or after its occurrence. 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 shutting down the generated and / or modified path points and / or the modified ones

Path speed and / or acceleration, in particular the (thus) created track with this or these track points and / or this

Web speed and / or acceleration, depending on the

Abort criterion, in particular at or after its occurrence. In one embodiment, a path following accuracy may depend on a, in particular maximum and / or mean 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 defined by the reference path marking

Reference positions and / or orientations can be predefined 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 predetermining a relationship between the path 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 a painting the variation of the web speed, the for a

uniform application of paint is crucial, more weighted than a tracking accuracy, which has less influence on the Lackierergebnis due to a blurred spray. 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 Bahnfolge- and

Speed accuracy can be specified in a development by a, in particular hardware or software technology implemented, slider or

be set. 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

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

Method completely or partially automated, in particular by the robot controller or their means.

Further advantages and features emerge from the subclaims and the exemplary embodiments. 1 shows a part of a robot arrangement with a robot controller for

Creating a trajectory of a robot of the robot assembly according to an embodiment of the present invention;

FIG. 2 shows a method for creating the robot path according to an embodiment of the present invention; FIG. and FIG. 3: a part of a reference track marking of a robot arrangement for the

Creation of a trajectory of a robot of the robot assembly 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 of a robot assembly in a pose (shown in Fig. 1) and in two other poses (dashed in Fig. 1) and a robot controller 2 for creating a trajectory of the robot and controlling the robot for Departure of this train. The robot assembly further comprises a reference mark in the form of a two-dimensionally patterned adhesive strip 3, which is temporarily adhered to a processing surface of a workpiece 4 in a step S10.

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

The robot controller 2 can generally be an integral or distributed controller or have one or more computers, in particular an (actual) robot (drive) controller for controlling the robot (arms) or its drives and an integrated module or a wireless or line-bound communicating or signal-connected (further) computer, in particular for evaluating signals of the 3D sensor 5 and / or at least partially

Executing the method, in particular one or more of the steps S10 - S70 described below.

The reference mark 3 indicates a desired processing path B on the processing surface 4 by its equidistantly scaled center line. By the pattern or its detection can also by means of the 3D sensor 5

Deviations both in the reference plane of the adhesive strip 3 and the

Drawing plane of Fig. 1 and (by optical distortions, in particular

Truncations, and the like) perpendicular thereto and an orientation relative to the adhesive strip 3 are detected.

In a step S20, the two positions shown in dashed lines are approached and thereby the two marked in Fig. 1 track points Ρ-ιο, P20 given, ie roughly taught. These may include particular positions and / or orientations of a TCPs include, in particular, for example, a focus and / or an axis of action of a robot-controlled laser welding or cutting tool, a reference (working or working) point and / or a reference (working or working) axis of a robot-controlled painter -, polishing or adhesive tool or the like.

Subsequently, in a step S30, the robot controller 2 moves a robot path initially only roughly aligned therewith in the form of a straight line between these two path points P ₀ , P20 at a path speed which is opposite one, for example for welding, cutting, gluing, painting, polishing or the like , constant given by parameterization in step S20

Path speed is scaled down, and recorded by means of the 3D sensor 5 optically the reference path marker. 3

It determines position and / or orientation deviations relative to

Reference mark 3, for example, Cartesian deviations from a point closest to the respective track point on the center line B in both the (reference) plane of the reference mark 3 (drawing plane of FIG. 1) and perpendicular thereto, as in Fig. 1 by deviation (svektor) s Δ indicated.

The robot controller 2 then corrects the (roughly taught) robot path in step S30 by modifying the (roughly taught) path points P ₀ , P 20 corresponding to the deviation vectors Δ, in particular adding the deviation (s vector) Δ Δ to the predetermined path points P ₀ , P ,

In a step S40, the robot controller 2 drives the thus modified

Robot web B with the modified predetermined path points again with the downscaled web speed 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. Once the predetermined required trajectory accuracy is reached (or reaches the maximum iteration number) (S40: "Y"), the robot controller 2 proceeds to step S50.

In this it increases the previously scaled down predetermined constant

Path speed, if necessary, gradually, and drives the modified

Robot web B at this web speed from.

She checks a speed accuracy. If a maximum or average variation of the web speed exceeds a predetermined maximum permissible limit, the robot controller 2 modifies the predetermined web speed in step S50, for example by adapting speed parameters in the modified web points accordingly. In the exemplary embodiment, the generation of an additional or further is exemplary

(Auxiliary) orbital point P between the two modified track points Ρ-ιο + Δ, Ρ ₂ ο + Δ indicated. By such a path point inserted and processed accordingly when moving off the web of the robot controller 2, also an undesirable speed variation between the modified path points Ρ-ιο + Δ, Ρ ₂ ο ⁺ Δ can be reduced or a web speed can be modified.

Similarly, for modification of the predetermined path speed, for example, the modified path points P ₀ , P ₂ o are moved along the path B, so that they on departure of the created or programmed path

be processed earlier or later.

After the predefined path speed has possibly been modified in step S50, the robot controller 2 moves the modified robot path B with the optionally modified path speed in step S60 and checks on the one hand the path sequence accuracy or (remaining) maximum and / or mean deviation from the center line of the Reference track mark 3 and on the other hand, a ratio of Bahnfolge- speed accuracy.

If both the required trajectory accuracy and the predetermined range for the track following and speed accuracy are met or determined (S60: "Y"), in a step S70 the modified robot path B with the generated trajectory point P and the modified trajectory point P is determined Track points Ρ-ιο + Δ, Ρ ₂ ο ⁺ Δ and the optionally modified

Web speed stored as track points or speed of the thus created robot track and output.

The robot path created in this way can now be read by the robot controller 2 in FIG

Normal operation for machining workpiece surfaces 4, 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 specified in step S10, the modification of the track points (step S30) and / or the web speed (step S50), optionally alternating, repeated, as indicated in Fig. 2 only schematically by the return to step S30.

It can be seen that even operators without great expertise have a welding,

Cutting, gluing, painting, polishing or similar (robot) web can produce easily and accurately with corresponding uniform web speed by the

Adhesive strips 3 attached to the workpiece surface and the

Robot track by approaching the points Ρ-ιο, P20 coarse teached while the subsequent iterative modification of the track points and speed

automated. Fig. 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 discuss the differences.

In the embodiment of FIG. 3, the reference mark is as

three-dimensionally patterned adhesive tape 3 'formed, the geometric

Has depressions or elevations with a height (or depth) of about 2-3 mm. The reference track mark 3 'also indicates a desired machining path B on the (3-D) equidistantly scaled center line

Processing surface 4 before. By means of the three-dimensional pattern or its detection, deviations in the reference or base or support plane of the adhesive tape 3 'or the drawing plane of FIG. 1 as well as (based on 3D edges, optical distortions , especially

Shortening, and the like) perpendicular thereto and / or an orientation relative to the adhesive tape 3 'advantageously be detected.

As with the two-dimensional pattern of the adhesive strip 3 (see Fig. 1) can be seen in the three-dimensional pattern of the adhesive tape 3 'perpendicular to

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 (rough prior) teach of the robot path, only one search start point can be approached and the robot controller, starting from this, generate corresponding path points by detecting and descending (the center line) of the adhesive strip 3.

It should also be noted that it is the exemplary

The explanations are merely examples of the scope of protection

Applications and the structure should in no way limit. Rather, the expert is by the preceding description a guide for the

Implementation of at least one exemplary embodiment given, wherein various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope, as it is apparent from the claims and these equivalent

Feature combinations results. LIST OF REFERENCES

1 robot (poor)

2 robot control

3 patterned adhesive tape (reference mark)

3 'adhesive tape with three-dimensional pattern (reference mark)

4 workpiece (surface)

5 3D sensor (detection means)

A distance line

B robot track

H help line

Pio - P20 TCP position

Δ deviation

Claims

claims

1. A method for creating a web (B) of a robot (1), comprising the steps of:

- detecting (S30 - S60) a reference track marker (3; 3 '); and

Modifying (S30, S50) at least one predetermined path point (P ₀ , P20) and / or a predetermined path velocity and / or acceleration of the robot path and / or generating (S50) at least one path point (P-15) on the basis of covered reference mark.

2. The method according to claim 1, characterized in that the

Reference track marking (3, 3 ') temporarily and / or detachably on a surface, in particular a processing surface of a workpiece (4), is arranged.

3. The method according to any one of the preceding claims, characterized in that the reference path marking (3, 3 ') by means of a detection means (5) is detected, which detects the reference path marker contactless and / or, in particular temporarily and / or releasably, on the robot ( 1) is arranged.

4. The method according to any one of the preceding claims, characterized in that the reference mark (3, 3 ') has at least one optical and / or two- or three-dimensional, in particular geometric, marking.

5. The method according to any one of the preceding claims, characterized by the steps:

- determining (S30 - S60) 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 start point or the predetermined path point; and

- Modifying (S30, S50) of the predetermined path point of the robot path

and / or the predetermined path velocity and / or acceleration and / or generation (S50) of the path point for reducing, in particular minimizing, 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 from the predetermined path velocity. Method according to the preceding claim, characterized by the steps:

especially several times:

- 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) of the predetermined path point of the robot path

and / or the predetermined path velocity and / or acceleration for reducing, in particular minimizing, a deviation (Δ) of the robot-fixed reference from at least one of

Reference track marker defined reference position and / or orientation and / or a deviation of the determined from the predetermined

Web speed.

Method according to one of the preceding claims, characterized by the steps:

- Specifying (S10) a termination criterion, in particular a maximum

permissible number of iterations, a required tracking accuracy, a required speed accuracy and / or a maximum allowable and / or minimum allowable ratio between path and speed accuracy; and

- Save, output and / or shutdown (S70, S80) of the generated

Web point and / or the modified web spot and / or the modified web speed and / or acceleration depending on the termination criterion.

Robot controller (2) for creating a web (B) of a robot (1), which is set up and / or has for carrying out a method according to one of the preceding claims:

- means for detecting a reference track marker (3; 3 '); and - Means for modifying at least one predetermined path point (P ₀ , P20) and / or a predetermined path velocity and / or - acceleration of the robot path and / or generating at least one path point (P-15) 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 carrying out a method according to any one of the preceding claims.