WO2021018873A1

WO2021018873A1 - Controlling a robot

Info

Publication number: WO2021018873A1
Application number: PCT/EP2020/071226
Authority: WO
Inventors: Rajko Rolke; Verena LANGGARTNER; Andreas Hagenauer; Alexander Dick
Original assignee: Kuka Deutschland Gmbh
Priority date: 2019-07-30
Filing date: 2020-07-28
Publication date: 2021-02-04
Also published as: DE102019211270B3

Abstract

An input apparatus according to the invention for controlling a robot (1) has, in one embodiment, a first input means (10) for commanding a movement of a robot-fixed reference in a predefined first degree of freedom relative to a predefined, in particular environment-based, first reference system (xb, zb) and a second input means (20) for commanding a movement of the robot-fixed reference in a predefined second degree of freedom relative to a predefined, in particular robot-based, second reference system (xt, yt), wherein the first and second input means can be actuated without changing over between the two reference systems, and/or a first further input means (30) for commanding a movement of the robot-fixed reference in a predefined first further degree of freedom relative to the first reference system, wherein the first degree of freedom is a rotation of the robot-fixed reference, in particular a, in particular the, predefined robot-fixed reference axis, in particular an impact direction of a robot-guided tool or workpiece, about an axis perpendicular to the reference axis and a normal of a predefined reference plane of the reference system and about a pivot point, and the first further degree of freedom is a rotation of the robot-fixed reference, in particular reference axis, about the normal and about a, in particular the, pivot point.

Description

description

Controlling a Robot

The present invention relates to an input device, in particular a

Mobile device, and a method for controlling a robot and a system with the input device and a computer program product for performing the method.

In practice, movements of an end effector of a robot should often be commanded manually via input devices, for example to

To teach end effector poses or the like.

According to in-house practice, input devices have input means for commanding movements of the end effector in various predetermined degrees of freedom relative to a predetermined reference system, in particular relative to an environment-related reference system or relative to a robot-related reference system.

By degrees of freedom relative to an environment-related reference system that is specified on the basis of a workpiece, for example end effector paths along edges, desired weld seams or others

Workpiece-specific processing, for example painting paths, can be commanded particularly advantageously.

By degrees of freedom relative to an endeffector-fixed reference system, which is specified using a robot-guided tool, it is particularly advantageous, for example, to command a workpiece to be approached in the direction of impact of the tool or to rotate the tool about its direction of impact.

Disadvantageously, one of these reference systems has to be preselected in each case in order to be able to then command in this, which places high demands on inexperienced users in particular: does a user have the

workpiece-fixed reference system commands a movement of a tool to an end point and now wants the tool against its direction of impact lift off the workpiece, he must first switch to the reference system fixed to the tool, select the corresponding degree of freedom in this and then command a movement in the correct direction in this degree of freedom.

In addition, for commanding changes in orientation according to

In-house practice, coordinate axes of these reference systems are provided, for example in the form of Euler angles around these axes, so that the approach to the desired orientations is particularly important for inexperienced users

Makes demands.

The object of the present invention is to improve the control of a robot, in particular to reduce, in particular to avoid, one or more of the disadvantages mentioned above.

This object is achieved by an input device with the features of claims 1 and / or 3. Claims 10-12 represent a method and system for

Controlling a robot with (the aid of) an input device described here or a computer program product for carrying out one described here

Procedure under protection. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, an input device for controlling a robot is provided, in particular set up, or is used for this purpose.

The input device is in one embodiment a portable or mobile,

in particular hand-held device and / or with a robot controller, in particular via at least one line or wirelessly, in particular via a radio link, (communication) connected or provided for this purpose, in particular set up, or is used for this purpose.

Using a portable or mobile device, a user can advantageously command the robot from favorable positions, reducing susceptibility to interference through a line connection to the robot controller, and using a wireless one

(Communication) connection impairments of the robot can be avoided. In one embodiment, the robot has a robot arm and / or an end effector and / or at least three, in particular at least six, in one embodiment at least seven, axes of movement or joints, in particular swivel joints, in particular a robot arm with an end effector and / or at least three, in particular at least six, in one version at least seven,

Axes of movement or joints, in particular swivel joints. With at least six axes of movement or joints, the end effector can be shifted and rotated in three spatial directions in one embodiment, with at least seven in one embodiment it can realize the same pose with different robot positions and thereby in particular bypass obstacles.

According to one embodiment of the present invention, the input device has a first input means with which a movement of a robot-fixed reference in a predetermined first degree of freedom relative to a predetermined,

in particular (differently) predeterminable or changeable, first, in one embodiment, environment-related (predefined, reference system is commanded or can be commanded or which is provided, in particular set up or used for this purpose.

According to one embodiment of the present invention, the input device additionally has a second input means with which the robot-fixed reference can be moved in a predetermined second degree of freedom relative to a

predefined, in particular (differently) predefinable or changeable, second, in one embodiment robot-related (predefined reference system is commanded or can be commanded or which is provided for this purpose, in particular set up or used.

According to one embodiment of the present invention, the first

Input means and the second input means without switching between the two reference systems, in particular without switching a display and / or

User interface of the input device, actuated or actuatable or provided for this purpose, in particular set up or used. In one embodiment, the first and second input means are thus available simultaneously at at least one point in time or can pass through at least one point in time

Input via the first input means a movement in the predetermined first Degree of freedom relative to the first reference system or a movement in the predetermined second degree of freedom relative to the second reference system can be commanded by input via the second input means.

As a result, in particular by making input options available in two different predefined reference systems at the same time, in particular in an environment-related and a robot-related reference system at the same time, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be improved in one embodiment , in particular intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, the robot-fixed reference is relative to a distal (st) en

Robot member, in particular end effector, in one embodiment robot-guided

Tool or workpiece, stationary, it can in particular have the tool center point (“TCP”), in particular it can be this.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

According to one embodiment of the present invention, the input device, in particular in addition or as an alternative to the second input means, has a first further input means with which the robot-fixed reference can be moved in a predetermined first further degree of freedom relative to the first

Reference system is commanded or can be commanded or that for this purpose

is provided, in particular set up or used, wherein in a

In a further development, the second input means and the first further input means are actuated or operated without switching between the two reference systems, in particular without switching a display and / or user interface of the input device.

can be actuated or provided for this purpose, in particular set up or used.

Additionally or alternatively, the input device in one embodiment has a first other input means with which a movement of the robot-fixed reference in a predetermined first different degree of freedom relative to the second

Reference system is commanded or can be commanded or that for this purpose

provided, in particular set up or used, the first input means and the first other input means being actuated or actuated or provided for this purpose, in particular set up, without switching between the two reference systems, in particular without switching a display and / or user interface of the input device or are or will be used.

In one embodiment, the first is thus at least one point in time

Input means and the second input means as well as the first further input means and / or the first other input means are available at the same time or can at least one point in time equally by input via the first

Input means a movement in the predetermined first degree of freedom or a movement in the predetermined second degree of freedom by input via the second input means or a movement in the predetermined first further or other degree of freedom by input via the first further or other input means.

In this way, in each case, in particular in combination, in one embodiment the

Controlling the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) intuitively (more), more precisely, faster and / or with a lower error rate.

In one embodiment, the input device has a second further input means with which a movement of the robot-fixed reference in a predetermined second further degree of freedom relative to the first reference system or a or the predetermined, in particular (differently) predeterminable or changeable, second, in a Execution robot-related (specified, reference system is commanded or can be commanded or which is provided for this purpose, in particular set up or used, wherein in one embodiment the first

Input means and the first further input means and the second input means and / or the second further input means without switching between the two reference systems, in particular without switching a display and / or

User interface of the input device, operated or operated bar or provided for this purpose, in particular set up or used. Additionally or alternatively, the input device in one embodiment has a second other input means with which a movement of the robot-mounted

Reference in a predefined second different degree of freedom relative to the first or a predefined, in particular (differently) predefinable or changeable, second, in one embodiment robot-related (predefined reference system is commanded or can be commanded for this purpose

is provided, in particular set up or used, wherein in a

Execution of the first input means and the second other input means and the second input means and / or first further input means without switching between the two reference systems, in particular without switching the input device, in particular a display and / or user interface, actuated or actuatable or provided for this purpose, in particular are set up or used.

In one embodiment, the first input means and the second are or will be

Input means and the first further input means and the second further

Input means and the first other input means and the second other

Input means without switching between the two reference systems, in particular without switching the input device, in particular a display and / or user interface, actuated or actuatable or provided for this purpose, in particular set up or used.

In one embodiment, the first is thus at least one point in time

Input means and the second input means as well as the first further input means and / or the first other input means and / or the second further input means and / or the second other input means are available at the same time or can at least one time equally by input via the first

Input means a movement in the predetermined first degree of freedom or by input via the second input means a movement in the predetermined second degree of freedom or by input via the first further or other input means a movement in the predetermined first further or other degree of freedom or by input via the second further or other input means

Movement can be commanded in the predetermined second further or different degree of freedom. As a result, in one embodiment, the robot-fixed reference can advantageously be moved in all six (rigid body) degrees of freedom in the (visual) space or its six (rigid body) degrees of freedom can be used in the (visual) space.

In one embodiment, one or more of the degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, (each) is a translational degree of freedom , especially along a straight line. Additionally or alternatively, one or more is the

Degrees of freedom, in particular the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, in one embodiment (each) a rotational degree of freedom.

Additionally or alternatively, one or more of the degrees of freedom are

in particular, the first degree of freedom, the second degree of freedom, the first further degree of freedom, the second further degree of freedom, the first other degree of freedom and / or the second other degree of freedom, in one embodiment (each)

Degree of freedom of one or the specified robot-fixed reference axis,

in particular a predetermined impact direction of a robot-guided tool or workpiece, relative to an environment-related reference system, in particular the environment-related first reference system.

Additionally or alternatively, one or more of the degrees of freedom are

Degree of freedom of one or the specified robot-fixed reference axis,

in particular the predetermined direction of impact of a robot-guided tool or workpiece relative to a robot-related reference system, in particular the robot-related second reference system.

In a further development, one or more of the degrees of freedom or a movement in this or one of these degrees of freedom (s) is a displacement of the robot-fixed reference, in particular the reference axis, relative to one environment-related reference systems, in particular the

environment-related first frame of reference.

In one embodiment of this development, one of the degrees of freedom is or

Movement in this degree of freedom a shift of the robot-fixed reference, in particular the reference axis, along a, in particular (different)

predeterminable, in particular selectable, axis of a predetermined reference plane of the environment-related reference system and at least one of these

different of the degrees of freedom or a movement in this degree of freedom a displacement of the robot-fixed reference, in particular the reference axis, along a different, in particular (different) predeterminable, in particular selectable, and / or perpendicular thereto, axis of the predefined reference plane. These two degrees of freedom can in particular be the second further and second other degrees of freedom.

Additionally or alternatively, one development is or are in one

Further development several of the degrees of freedom or a movement in this or one of these degrees of freedom (s) a shift of the robot-fixed reference, in particular reference axis, relative to a robot-related reference system, in particular the robot-related second reference system.

In one embodiment of this development, at least one of the degrees of freedom is a displacement of the robot-fixed reference, in particular the reference axis, along the reference axis. This degree of freedom can in particular be the second degree of freedom.

Additionally or alternatively, one development is or are in one

Further development of several of the degrees of freedom or a movement in this or one of these degrees of freedom (s) a rotation of the robot-fixed reference,

in particular a reference axis, relative to a robot-related one of the reference systems, in particular the robot-related second reference system.

In one embodiment of this development, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about the

Reference axis. This degree of freedom can in particular the first other

Be degree of freedom. Additionally or alternatively, according to an embodiment of the present invention, one or more are according to an embodiment of the present invention

Degrees of freedom or a movement in this or one of these degrees of freedom (s) a rotation of the robot-fixed reference, in particular the reference axis, relative to an environment-related one of the reference systems, in particular the environment-related first reference system.

In a further development of this embodiment, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about an axis perpendicular to the reference axis and a normal of a or the predetermined reference plane of the reference system and / or about or in a pivot point, in particular a rotation of the robot-fixed reference (axis) in the

Reference plane or in the opposite direction to this in a position perpendicular to the reference plane around or in the pivot point. This degree of freedom can in particular be the first degree of freedom.

Additionally or alternatively, in a further development of this embodiment, at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about one or the normal of one or the specified ones

Reference plane of the reference system and / or around or in a, in particular the or the, pivot point, in particular a rolling of the robot-fixed

Reference (axis) on a cone, the tip of which lies in the pivot point and the cone axis of which is perpendicular to the reference plane. This degree of freedom can in particular be the first further degree of freedom.

In this way, in one embodiment, in particular in combination of two or more of the features mentioned, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) more intuitive, more precise, faster and / or with a lower error rate.

In one embodiment, the rotation of the robot-fixed reference, in particular the reference axis, is about the axis perpendicular to the reference axis and the normal of the predetermined reference plane of the reference system and / or about the or in the pivot point on an area between two perpendicular to the reference plane Positions of the robot-fixed reference, in particular the reference axis, or a range between a position of the robot-fixed reference, in particular a reference axis, which is perpendicular to the reference plane, and a position perpendicular thereto, i.e. a maximum rotation of the robot-fixed reference (axis) or up to the or parallel to the reference plane and maximally or up to a position perpendicular to the reference plane or maximally or up to two opposite positions perpendicular to the reference plane.

In one embodiment, the input device has an input means with which a step size of a movement, in particular a movement of the robot-fixed reference in the first degree of freedom, a movement of the robot-fixed reference in the second degree of freedom, a movement of the robot-fixed reference in the first further degree of freedom, a Movement of the robot-fixed reference in the second further degree of freedom, a movement of the robot-fixed reference in the first other degree of freedom and / or a movement of the robot-fixed reference in the second other degree of freedom, are specified, in particular (differently) predeterminable or variable, is or is or which is provided, in particular set up or used for this purpose, this step size being or determining a step size when commanding this movement, in one embodiment of the robot when the corresponding (first / second / first

further / second further / first other / second other) input means moves the robot-fixed reference by this increment.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (even) more precisely and / or with a lower error rate

be performed.

Likewise, in one embodiment, the robot can also execute the commanded movement as long as the corresponding input means is activated, in particular is or is actuated, possibly within a predetermined (movement) range or up to a predetermined limit.

As a result, in one embodiment, the control of the robot, in particular the commanding of movements of the robot-fixed reference, can be (further) improved, in particular (still) carried out intuitively and / or more quickly.

In one embodiment, the input device has an input means with which one of several predetermined, in particular previously predetermined and / or

(differently) predeterminable or variable and / or mutually perpendicular reference planes of the reference system is selected or is selected as a predefined reference plane or which is provided for this purpose, in particular set up or used.

In one embodiment, one or more of the input means, in particular the first and / or second and / or first further and / or second further and / or first other and / or second other input means and / or one or more of the input means to specify a step size and / or that

Input means for selecting a reference plane, (in each case) at least one switch, in particular rocker switch, and / or one, in one embodiment

switchable display device, in particular a display, preferably a touch display and / or for displaying the commandable movement. In one embodiment, the display device shows a predetermined direction of this commandable movement or is provided for this purpose, in particular

set up or is used for this. In one embodiment, the specified direction is that direction in which the commandable movement takes place when the input means, in particular the corresponding switch, is operated in a specified direction. In particular, the display device thus shows in one embodiment, preferably in the form of an arrow and / or a "+" symbol, a direction in which the commandable movement takes place, when the input means, in particular the corresponding switch, is actuated in a predetermined direction, preferably again marked by an arrow and / or a “+” symbol, or is provided for this purpose, in particular set up or is used for this purpose.

According to one embodiment of the present invention, a method for controlling the robot with the aid of an input device described here has the step:

Commanding a movement of the robot-fixed reference by means of the first input means.

According to one embodiment of the present invention, the method additionally has the step:

Commanding a movement of the robot-fixed reference by means of the first further input means.

Additionally or alternatively, after one embodiment of the

present invention the step on:

Commanding a movement of the robot-fixed reference by means of the second input means without switching between the two reference systems.

In one embodiment, the method also has one or more of the steps:

- Commanding a movement of the robot-fixed reference by means of the first further input means without switching between the two reference systems; and or

- Commanding a movement of the robot-fixed reference by means of the first other input means, in particular without switching between the two reference systems; and or - Commanding a movement of the robot-fixed reference by means of the second further input means, in particular without switching between the two reference systems; and or

- Commanding a movement of the robot-fixed reference by means of the second other input means, in particular without switching between the two reference systems; and or

- Specifying a step size of a movement by means of the input means for

Specifying a step size; and or

- Selecting one of several predetermined ones, in particular with respect to one another

vertical reference planes of the reference system as a predetermined reference plane by means of the input means for selection.

According to one embodiment of the present invention, a system for controlling the robot has an input device and / or one described here

Robot control for controlling the robot, in particular for controlling and / or supplying energy to its (axle) drives, and / or is set up, in particular in hardware and / or software, in particular in terms of programming, to carry out a method described here. In the present case, controlling is also understood in particular to mean regulating.

A means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a processing, in particular microprocessor unit (CPU), graphics card (GPU), preferably a data or signal connected to a memory and / or bus system, in particular a digital processing unit ) or the like, and / or one or more programs or program modules. The processing unit can be designed to receive commands that are implemented as one in one

Program stored in the storage system are implemented,

Acquire input signals from a data bus and / or deliver output signals to a data bus. A storage system can have one or more,

in particular have various storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of executing the methods described here, so that the processing unit can execute the steps of such methods and can thus in particular control the robot. A computer program product can, in one embodiment, be a, in particular non- volatile storage medium for storing a program or with a program stored thereon, in particular, wherein executing this program causes a system or a controller, in particular a computer, to execute a method described here or one or more of its steps .

An input means can in particular have one or more hard and / or

Have software-implemented switches, in particular push-button switches, rocker switches, rotary switches and / or slide switches, and / or one or more displays implemented in hardware and / or software.

In one embodiment, one or more, in particular all, steps of the

Procedure carried out completely or partially automatically, in particular by the system. In one embodiment, the system has the robot.

The environment-related reference system is or is in one embodiment relative to a stationary environment element, in particular a robot cell, wall,

Ceiling or a floor in or on which the robot is arranged, stationary

(predetermined), in another embodiment it executes a, in particular predetermined, movement relative to a stationary surrounding element

in particular relative to a movable environmental element, in particular a conveyor belt, conveyor table, mobile transporter or a base of the mobile robot in or on which the robot is arranged, be or become stationary (predetermined). In one embodiment, an environment-related reference system is or becomes stationary for a workpiece or tool to be approached, handled and / or machined by the robot (specified).

In one embodiment, a robot-related reference system is stationary (specified) relative to a member, in particular the robot-fixed reference and / or the end effector, of the robot. In one embodiment, an axis of the robot-related reference system is parallel to one or the predetermined fixed robot

Reference axis, in particular the direction of impact of a robot-guided tool or workpiece, in a further development, the axis of the robot-related reference system and the robot-fixed reference axis or direction of impact are aligned. In one embodiment, the first and second reference systems can be moved relative to one another; in one embodiment, they guide one, in particular one

Robot movement, dependent relative movement to one another.

In one embodiment, the first and / or second reference systems are Cartesian

(Coordinate) systems.

A or the pivot point of the robot-fixed reference around or in which the

robot-fixed reference, in particular the reference axis, rotates in one embodiment, in particular in one or more of the degrees of freedom, in one embodiment the first degree of freedom and / or the further first degree of freedom, and / or around the reference axis to the reference axis and normal of the specified reference plane of the

Reference system vertical axis and / or about the normal, is or is in one embodiment, in particular relative to the first and / or second

Environment-related and / or robot-related reference system, predetermined, preferably (location) fixedly predetermined or (differently) predetermined or

changeable, in one embodiment it is stationary relative to the first and / or second environment-related and / or robot-related reference system, in a further development it lies on the reference axis, in particular the direction of impact of the robot-guided tool or workpiece. In one implementation this is

Pivot point is a point of intersection of the reference axis through the reference plane, a tip of the tool 2 or an origin of the robot-related reference system, in one development it is or is selected from one of these points.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partly schematically: Fig. 1: a system with a robot, a robot controller and a

Input device for controlling the robot according to an embodiment of the present invention;

2 shows a method for controlling the robot according to an embodiment of the present invention; and

3: a part of the input device.

Fig. 1 shows a system with a six-axis robot (arm) 1 with

Joint coordinates qi-q ₆ , a robot controller 3 and an input device in the form of a mobile device 100 for controlling the robot 1 according to an embodiment of the present invention, FIG. 3 shows a part of the mobile device 100.

As can be seen in particular in FIG. 3, the mobile device 100 has a first

Input means 10 for commanding a movement of a robot-fixed reference in the form of a TCP (in Fig. 1 by a reference axis x _t in the direction of impact of a robot-guided tool 2 for machining a workpiece 4 on which an environment-related first reference system x _b , z _{b is} indicated in a stationary manner, and a further coordinate axis of the robot (tool) fixed second reference system indicated) in a predetermined first degree of freedom relative to the

predetermined first, environment-related reference system x _b , z _b . The first input means 10 for its part has a switchable display device in the form of a display 1 1 for displaying the commandable ones using software

Movement and a rocker switch 12 implemented in hardware technology in one embodiment.

The mobile device 100 has a second input means 20 for commanding a movement of the robot-fixed reference in a predetermined second degree of freedom relative to the robot (tool) fixed second reference system with a switchable display device in the form of a display 21 for the software-technical display of this commandable movement and one in a execution

hardware implemented, rocker switch 22 on. The mobile device 100 also has a first further input means 30 for

Commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the tool-fixed or

environment-related first reference system with a switchable

Display device in the form of a display 31 for displaying this commandable movement using software and one, in one embodiment

Hardware implemented, rocker switch 32 on.

The mobile device 100 also has a first different input means 40 for

Commanding a movement of the robot-fixed reference in a predetermined first different degree of freedom relative to the robot (tool) fixed second

Reference system with a switchable display device in the form of a display 41 for displaying this commandable movement in software and a rocker switch 42 implemented in hardware in one embodiment.

The mobile device 100 also has a second further input means 50 for

Commanding a movement of the robot-fixed reference in a predetermined second further degree of freedom relative to the tool-fixed or

environment-related first reference system with a switchable

Display device in the form of a display 51 for displaying this commandable movement using software and one, in one embodiment

Hardware implemented, rocker switch 52 on.

The mobile device 100 also has a second different input means 60 for

Commanding a movement of the robot-fixed reference in a predetermined second different degree of freedom relative to the predetermined tool-fixed or environment-related first reference system with a switchable

Display device in the form of a display 61 for displaying this commandable movement using software and one, in one embodiment

Hardware implemented, rocker switch 62 on.

The mobile device 100 also has an input means for selecting one of three predetermined, mutually perpendicular reference planes of the predetermined tool-fixed or environment-related first reference system as a predetermined reference plane in the form of a touch display with three fields 71-73. In a modification that is not shown, a

Input means for specifying a step size can be provided.

In a step S1 (cf. FIG. 2), a user selects one of the reference planes of the predefined tool-fixed or environment-related first reference system as the predefined reference plane, in FIG. 3 the xy plane, as indicated by the bordered field 71, with the help of the touch display indicated.

Correspondingly, the second further degree of freedom is now a shift along the x-axis x _{b of} the predetermined reference or xy plane of the first reference system related to the environment and the second other

Degree of freedom is a displacement along the y-axis of this reference plane.

The display devices 51, 61 accordingly display these commandable movements. If the user had selected the x-z plane instead in step S1, the display 61 would instead show “Z” and the displays 51, 61 would show the x-z plane according to window 72.

The second degree of freedom is a shift along the reference axis x _t relative to the robot (tool) fixed second reference system. Accordingly, the

Display device 21 indicates this commandable movement, in particular by means of an arrow and a “+” sign, a predetermined direction of this movement, which corresponds to an actuation of the rocker switch 22 in the “+” direction.

The first other degree of freedom is a rotation about the reference axis x _t relative to the robot (tool) fixed second reference system. Accordingly, the

Display device 41 indicates this commandable movement, in particular by means of an arrow and a “+” sign, a predetermined direction of this movement, which corresponds to an actuation of the rocker switch 42 in the “+” direction.

The first degree of freedom is a rotation of the reference axis x _t about a predetermined perpendicular axis to the reference axis x _t and a normal to z _b parallel to the selected reference or xy plane of the environment-related first reference system in or about a predetermined pivot point in one

Execution of the intersection point of the reference axis x _t through the

Reference plane, the tip of the tool 2 or the origin of the TCPs. Accordingly, the display device 11 shows this commandable

Movement, especially with an arrow and a "+" sign

predetermined direction of this movement, that of an actuation of the

Rocker switch 12 in the "+" direction. In other words, causes a

Actuation of the rocker switch 12 in the “+” direction erects the reference axis up to a position perpendicular to the selected reference plane (in the example of FIG. 3, the x-y plane).

The first further degree of freedom is a rotation of the reference axis x _t around this normal in or around the pivot point. The display device 31 accordingly displays this commandable movement.

If the user operates the rocker switch 52 (Fig. 2: S10: “Y”), the TCP or the robot-guided tool 2 or the reference axis x _t moves along the x-axis x _b , in one embodiment as long as the rocker switch 52 is actuated or with each (renewed) actuation (again) by a predetermined increment at

Actuation in the “+” direction in the positive direction of the x-axis x _b , when actuated in the “-” direction in the opposite direction (Fig. 2: S11).

If the user does not actuate the rocker switch 52 (FIG. 2: S10: "N"), but rather the rocker switch 62 (FIG. 2: S20: "Y"), the TCP or the robot-guided tool 2 or the reference axis x moves _t along the y-axis of the selected

Reference or xy plane of the environment-related first reference system, in one embodiment, as long as the rocker switch 62 is actuated or with each (renewed) actuation (again) by a predetermined increment, when actuated in the “+” direction in the positive direction of y -Axis, when actuated in "-" direction in the opposite direction (Fig. 2: S21).

If the user does not actuate the rocker switch 62 either (FIG. 2: S20: “N”) but rather the rocker switch 22 (FIG. 2: S30: “Y”), the TCP or the robot-guided tool 2 or the reference axis moves x _t along the reference axis x _t des

robot (tool) fixed second reference system, in one embodiment, as long as the rocker switch 22 is actuated or with each (renewed) actuation (again) by a predetermined increment, upon actuation in the “+” direction in the display device 21 indicated positive direction along the reference axis x _t , when actuated in the “-” direction in the opposite direction to this (Fig. 2: S31).

If the user does not actuate the rocker switch 42 (FIG. 2: S30: "N"), but rather the rocker switch 12 (FIG. 2: S40: "Y"), the robot-guided tool 2 rotates around one to the reference axis x _t and one to z _b parallel normal of the selected reference or xy plane of the environment-related first reference system

vertical axis in or around the fulcrum, in one embodiment, as long as the rocker switch 12 is actuated or with each (renewed) actuation (again) by a specified increment, when actuated in the "+" direction in the display device 11, when actuated in the "-" direction in the opposite direction (Fig. 2: S41).

If the user does not actuate the rocker switch 12 (Fig. 2: S40: “N”), but rather the rocker switch 42 (Fig. 2: S50: “Y”), the robot-guided tool 2 rotates around the reference axis x _{t of} the robot (tool ) Fixed second reference system, in one embodiment, as long as the rocker switch 42 is actuated or with each (renewed) actuation (again) by a predetermined increment, with actuation in the "+" direction in the display device 41 shown positive direction about the reference axis x _t , when operated in the "-" direction in the opposite direction (Fig. 2: S51).

If the user does not actuate the rocker switch 42 (FIG. 2: S50: "N"), but rather the rocker switch 32 (FIG. 2: S60: "Y"), the robot-guided tool 2 rotates around the normal of the selected one, which is parallel to, for example, _b Reference or xy plane of the

Environment-related first reference system in or around the fulcrum, in one embodiment, as long as the rocker switch 32 is actuated or with each (renewed) actuation (again) by a predetermined increment, positive indicated in the display device 31 upon actuation in the “+” direction , when operated in the "-" direction in the opposite direction (Fig. 2: S61).

By actuating one of the other fields 72, 73 (step S1), another one of the reference planes of the environment-related first reference system can be selected instead, the commandable movements described above changing accordingly and in the display devices 51, 61 the

corresponding commandable movements are displayed. It can be seen that in this way the commanding of movements of the TCP or of the robot-guided tool 2 can be carried out very intuitively and therefore particularly precisely, quickly and with a low error rate.

Although exemplary embodiments have been explained in the preceding description, it should be pointed out that a large number of modifications are possible. It should also be noted that the exemplary

Explanations are only examples that cover the scope of protection that

Applications and structure are not intended to restrict in any way. Rather, the person skilled in the art through the preceding description is a guide for

Implementation of at least one exemplary embodiment given, whereby various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as it emerges from the claims and their equivalents

Combinations of characteristics results.

Reference list

1 robot

2 tools

3 robot controller

4 workpiece

10 first input means

1 1 display device (switchable display)

12 rocker switches

20 second input means

21 display device (switchable display)

22 rocker switches

30 first further input means

31 display device (switchable display)

32 rocker switches

40 first other input means

41 Display device (switchable display)

42 rocker switches

50 second further input means

51 display device (switchable display)

52 rocker switches

60 second other input means

61 display device (switchable display)

62 rocker switches

100 mobile device

71-73 input means for selecting a reference plane

qq ₆ joint coordinate

x _t reference axis (direction of impact)

y _t axis of the second reference system fixed to the robot tool, TCP x _b axis of the first reference system fixed to the workpiece

z _b Axis of the workpiece-fixed first reference system

Claims

1. Input device, in particular mobile device (100), for controlling a robot

(1), with:

- a first input means (10) for commanding a movement of a robot-fixed reference in a predetermined first degree of freedom relative to a, in particular environment-related, predetermined first

Reference system (x _b , z _b ); and

- A second input means (20) for commanding a movement of the robot-fixed reference in a predetermined second degree of freedom relative to a, in particular robot-related, predetermined second reference system

(xt, yt);

wherein the first and second input means without switching between the two

Reference systems are operable.

2. Input device according to claim 1, characterized by:

- A first further input means (30) for commanding a movement of the robot-fixed reference in a predetermined first further

Degrees of freedom relative to the first frame of reference, the second being

Input means and the first further input means can be actuated without switching between the two reference systems; and or

- At least one first other input means (40) for commanding a movement of the robot-fixed reference in a predetermined first other degree of freedom relative to the second reference system, the first

Input means and the first other input means can be actuated without switching between the two reference systems,

in particular wherein the first and second input means and the first further and first other input means without switching between the two

Reference systems are operable.

3. Input device, in particular mobile device (100) and / or according to one of the preceding claims, for controlling a robot (1), with:

- One, in particular the, first input means (10) for commanding a movement of a robot-fixed reference in a predetermined first Degree of freedom relative to an environment-related predetermined first reference system (x _b , z _b ); and

- One, in particular the, first further input means (30) for

Commanding a movement of the robot-fixed reference in a predetermined first further degree of freedom relative to the first

Reference system;

in which

- the first degree of freedom a rotation of the robot-fixed reference,

in particular one, in particular the predetermined, robot-fixed

The reference axis, in particular the impact direction of a robot-guided tool or workpiece, is about an axis perpendicular to the reference axis and a normal of a predetermined reference plane of the reference system and about a pivot point; and

- the first further degree of freedom a rotation of the robot-fixed reference,

in particular the reference axis, around the normal and around one, in particular the, pivot point.

4. Input device according to one of the preceding claims, characterized by:

- A second further input means (50) for commanding a movement of the robot-fixed reference in a predetermined second further

Degree of freedom relative to the first or one, in particular

robot-related, predetermined, in particular the second reference system, in particular wherein the first input means and the second further

Input means and the second input means and / or first further

Input means can be operated without switching between the two reference systems; and or

- At least one second other input means (60) for commanding a movement of the robot-fixed reference in a predetermined second other degree of freedom relative to the first or a, in particular robot-related, predetermined, in particular the second reference system, in particular wherein the first input means and the second other

Input means and the second input means and / or first further

Input means can be operated without switching between the two reference systems, in particular wherein the first and second input means and first further and first other input means and second further and second other input means can be actuated without switching between the two reference systems.

5. Input device according to one of the preceding claims, characterized

characterized in that one or more of the degrees of freedom is a translational degree of freedom, in particular along a straight line, and / or one or more of the degrees of freedom is a rotational degree of freedom and / or one or more of the degrees of freedom is a degree of freedom of a predetermined robot-fixed

Reference axis (x _t ), in particular the direction of impact of a robot-guided tool (2) or workpiece, relative to a robot-related or

environment-related reference system.

6. Input device according to the preceding claim, characterized

marked that:

- One or more of the degrees of freedom a displacement of the robot-fixed reference, in particular the reference axis, relative to one

environment-related of the reference systems,

in particular one of the degrees of freedom is a displacement of the robot-fixed reference, in particular the reference axis, along an axis of a predetermined reference plane of the environment-related reference system and at least one of these different

Degrees of freedom is a displacement of the robot-fixed reference, in particular the reference axis, along an axis of the specified reference plane that is different therefrom, in particular perpendicular thereto;

- one or more of the degrees of freedom is a shift of the robot-fixed reference, in particular the reference axis, relative to a robot-related reference system,

in particular at least one of the degrees of freedom is a displacement of the reference fixed by the robot, in particular the reference axis, along the reference axis;

- one or more of the degrees of freedom a rotation of the robot-fixed

Reference, in particular reference axis, relative to a

environment-related of the reference systems, in particular at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about an axis perpendicular to the reference axis and a normal of a predetermined reference plane of the reference system and / or about a, in particular the, pivot point; and or

at least one of the degrees of freedom is a rotation of the robot-fixed reference, in particular the reference axis, about a normal of a, in particular the predetermined, reference plane of the reference system and / or around a, in particular the, pivot point;

and or

- one or more of the degrees of freedom a rotation of the robot-fixed

Reference, in particular the reference axis, is relative to a robot-related reference system,

in particular at least one of the degrees of freedom a rotation of the robot-fixed reference, in particular the reference axis, about the

Reference axis is.

7. Input device according to one of the preceding claims, characterized

characterized that the rotation of the robot-fixed reference, in particular the reference axis, about the axis perpendicular to the reference axis and the normal of the predetermined reference plane of the reference system to an area between two positions of the robot-fixed reference perpendicular to the reference plane, in particular the reference axis, or an area between one the

Reference plane vertical positions of the robot-fixed reference, in particular the reference axis, and a position perpendicular thereto is limited.

8. Input device according to one of the preceding claims, characterized by

an input means for specifying a step size for a movement

Commanding this movement and / or

- An input means (71-73) for selecting one of several predetermined, in particular mutually perpendicular, reference planes of the reference system as the predetermined reference plane.

9. Input device according to one of the preceding claims, characterized in that at least one of the input means has a switch, in particular a rocker switch (12, 22, 32, 42, 52, 62), and / or a, in particular switchable, display device (1 1, 21 , 31, 41, 51, 61, 71 -73), in particular a touch display and / or for displaying the commandable movement, in particular a predetermined direction of this movement.

10. A method for controlling a robot (1) using an input device according to one of the preceding claims, with the step:

- Commanding (S41) a movement of the robot-fixed reference by means of the first input means (10);

and at least one of the steps:

- Commanding (S31) a movement of the robot-fixed reference using the second input means (20) without switching between the two

Frames of reference; and or

- Commanding (S61) a movement of the robot-fixed reference by means of the first further input means (31).

1 1. System for controlling a robot (1), which has an input device according to one of the preceding claims and / or is set up to carry out a method according to the preceding claim.

12. Computer program product with a program code that is based on one of a

Computer-readable medium is stored for performing a method according to one of the preceding claims.