US 12,226,902 B2
Method and manipulation system for manipulation of an object by a robot
Philipp Sebastian Schmitt, Munich (DE); and Florian Wirnshofer, Munich (DE)
Assigned to SIEMENS AKTIENGESELLSCHAFT, Munich (DE)
Appl. No. 17/626,926
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Jul. 10, 2020, PCT No. PCT/EP2020/069583
§ 371(c)(1), (2) Date Jan. 13, 2022,
PCT Pub. No. WO2021/018552, PCT Pub. Date Feb. 4, 2021.
Claims priority of application No. 19188992 (EP), filed on Jul. 30, 2019.
Prior Publication US 2022/0258335 A1, Aug. 18, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 9/1651 (2013.01); B25J 9/1666 (2013.01); B25J 9/1671 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for manipulation of an object by a robot, wherein the manipulation is directed at a manipulation target and comprises different manipulation modes, the method comprising:
a) generating a plurality of manipulation mode-specific constraint-based controllers each for controlling a partial manipulation restricted to a manipulation mode;
b) simulating, for a multiplicity of manipulation states and a multiplicity of the generated constraint-based controllers, in each case a partial manipulation which proceeds from the respective manipulation state and is controlled by the respective generated constraint-based controller, wherein an outlay value quantifying attainment of the manipulation target is determined;
c) training, on a basis of the multiplicity of the manipulation states, the multiplicity of the generated constraint-based controllers and also the outlay values, a machine learning module to determine, on a basis of a current manipulation state, one of the generated constraint-based controllers which optimizes an outlay value;
d) detecting the current manipulation state;
e) determining an outlay-optimizing controller by the trained machine learning module on a basis of the current manipulation state, wherein the outlay-optimizing controller is configured to control a continuous and optimized path from the current manipulation state to the manipulation target; and
f) generating control data for controlling the robot by the outlay-optimizing controller on the basis of the current manipulation state.