Granted Patent B2

US 12,330,302 · App. 17/797,154 · Granted Jun 17, 2025

Inventors: Jose Ramon Medina Hernandez (Munich, DE); Andreas Spenninger (Karlsfeld, DE)

Assignee: FRANKA EMIKA GMBH

B25J9/1605B25J13/06

Abstract

Claims (49)

1. A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, the control unit comprising:

an interactive operating unit configured to:

display a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit; and

detect a user-specified position of the first adjustment element and the second adjustment element within the specified region and to transmit the user-specified position of the first adjustment element and the second adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale; and

a computing unit configured to;

receive the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;

ascertain at least three weightings for a specified cost function as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element; and

ascertain the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.

2. The control unit according to claim 1 , wherein the computing unit is configured to ascertain the one or more parameters of the control program and/or of the control system for the robot manipulator by repeated adapted and learning-based performance of a task based on the cost function with the ascertained weightings.

3. The control unit according to claim 1 , wherein the computing unit is configured to ascertain the one parameter or more parameters of the control program and/or of the control system for the robot manipulator by minimizing a function value of the cost function with the ascertained weightings.

4. The control unit according to claim 1 , wherein the cost function has at least one of the following variables:

time necessary to perform a task by the robot manipulator;

energy consumption necessary to perform the task;

wear of the robot manipulator and/or of a workpiece during performance of the task;

forces and/or torques that act between an end effector of the robot manipulator and an object from an environment of the robot manipulator;

torques that occur in joints of the robot manipulator during performance of the task;

speeds of a reference point of the robot manipulator that occur during performance of the task;

accelerations of the reference point of the robot manipulator that occur during performance of the task; and

noise that occurs during performance of the task.

5. The control unit according to claim 1 , wherein the first adjustment element is moveable on a linear scale, wherein the computing unit is configured to ascertain at least two weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

6. The control unit according to claim 1 , wherein the specified region includes a limited plane, wherein the first adjustment element is moveable in the limited plane, wherein the computing unit is configured to ascertain at least three weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

7. The control unit according to claim 6 , wherein the limited plane is a polygon having vertices, wherein each of the vertices of the polygon is associated with a respective variable of the specified cost function, wherein a respective distance of the first adjustment element with respect to a respective vertex of the polygon determines a ratio between the respective weightings in accordance with the user-specified position of the first adjustment element.

8. The control unit according to claim 1 ,

wherein the interactive operating unit is configured to display a second adjustment element and the specified region for the first adjustment element and the second adjustment element so that the first adjustment element and the second adjustment are moveable within the specified region via the input of the user, wherein the interactive operating unit is further configured to detect a user-specified position of the first adjustment element and of the second adjustment element within the specified region and to transmit a respective user-specified position of a respective adjustment element to the computing unit;

wherein the computing unit is configured to receive the respective user-specified position of the respective adjustment element transmitted from the interactive operating unit, and further configured to ascertain at least three weightings for the specified cost function as a function of the respective user-specified position of the respective adjustment element relative to the specified region.

9. A method of ascertaining one or more parameters of a control program and/or of a control system for a robot manipulator by a control unit, the control unit comprising an interactive operating unit and a computing unit, the method comprising:

displaying a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, via an interactive operating unit, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit;

detecting a user-specified position of the first adjustment element and the second adjustment element within the specified region via the interactive operating unit and transmitting the user-specified position of the first adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale;

receiving via a computing unit the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;

ascertaining at least three weightings for a specified cost function via the computing unit as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element; and

ascertaining via the computing unit the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.

10. The method according to claim 9 , wherein the method comprises ascertaining via the computing unit the one or more parameters of the control program and/or of the control system for the robot manipulator by repeated adapted and learning-based performance of a task based on the cost function with the ascertained weightings.

11. The method according to claim 9 , wherein the method comprises ascertaining via the computing unit the one parameter or more parameters of the control program and/or of the control system for the robot manipulator by minimizing a function value of the cost function with the ascertained weightings.

12. The method according to claim 9 , wherein the cost function has at least one of the following variables:

time necessary to perform a task by the robot manipulator;

energy consumption necessary to perform the task;

wear of the robot manipulator and/or of a workpiece during performance of the task;

forces and/or torques that act between an end effector of the robot manipulator and an object from an environment of the robot manipulator;

torques that occur in joints of the robot manipulator during performance of the task;

speeds of a reference point of the robot manipulator that occur during performance of the task;

accelerations of the reference point of the robot manipulator that occur during performance of the task; and

noise that occurs during performance of the task.

13. The method according to claim 9 , wherein the first adjustment element is moveable on a linear scale, wherein the method comprises ascertaining via the computing unit at least two weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

14. The method according to claim 9 , wherein the specified region includes a limited plane, wherein the first adjustment element is moveable in the limited plane, wherein the method comprises ascertaining via the computing unit at least three weightings for the specified cost function as a function of the user-specified position of the first adjustment element relative to the specified region.

15. The method according to claim 14 , wherein the limited plane is a polygon having vertices, wherein each of the vertices of the polygon is associated with a respective variable of the specified cost function, wherein a respective distance of the first adjustment element with respect to a respective vertex of the polygon determines a ratio between the respective weightings in accordance with the user-specified position of the first adjustment element.

16. The method according to claim 9 , wherein the method further comprises:

displaying via the interactive operating unit a second adjustment element and the specified region for the first adjustment element and the second adjustment element so that the first adjustment element and the second adjustment are moveable within the specified region via the input of the user;

detecting via the interactive operating unit a user-specified position of the first adjustment element and of the second adjustment element within the specified region and transmitting a respective user-specified position of a respective adjustment element to the computing unit;

receiving via the computing unit the respective user-specified position of the respective adjustment element transmitted from the interactive operating unit and ascertaining via the computing unit at least three weightings for the specified cost function as a function of the respective user-specified position of the respective adjustment element relative to the specified region.

Assignments (3)

Priority Claims (1)

Continuity (1)

References Cited (25)