FR3060146B1 - PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM - Google Patents

PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM Download PDF

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Publication number
FR3060146B1
FR3060146B1 FR1662434A FR1662434A FR3060146B1 FR 3060146 B1 FR3060146 B1 FR 3060146B1 FR 1662434 A FR1662434 A FR 1662434A FR 1662434 A FR1662434 A FR 1662434A FR 3060146 B1 FR3060146 B1 FR 3060146B1
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France
Prior art keywords
robot arm
safety
robot
robotized
robotized cell
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Active
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FR1662434A
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French (fr)
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FR3060146A1 (en
Inventor
Louis Garde
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Staubli Faverges SCA
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Staubli Faverges SCA
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Application filed by Staubli Faverges SCA filed Critical Staubli Faverges SCA
Priority to FR1662434A priority Critical patent/FR3060146B1/en
Publication of FR3060146A1 publication Critical patent/FR3060146A1/en
Application granted granted Critical
Publication of FR3060146B1 publication Critical patent/FR3060146B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39447—Dead man switch

Abstract

Ce procédé de commande d'un bras de robot d'une cellule de travail robotisée comportant : - un robot pourvu d'un bras de robot articulé à au moins deux degrés de liberté ; et - un contrôleur de sécurité, disposant d'entrées de sécurité, des équipements de sécurité étant connectés aux entrées de sécurité du contrôleur ; comporte des étapes consistant à : b) recevoir un ordre d'activation (1002) d'un mode de maintenance du robot émis par un opérateur et, en réponse, d) forcer l'arrêt du bras de robot (1006) ; f) inhiber le déclenchement d'un arrêt de sécurité (1010), quelle que soit la configuration des signaux d'état reçus sur les entrées de sécurité ; g) autoriser (1012) le déplacement du bras de robot seulement tant qu'un contacteur homme-mort est activé.This method of controlling a robot arm of a robotic work cell comprising: a robot provided with a robot arm articulated with at least two degrees of freedom; and - a safety controller, having safety inputs, safety equipment being connected to the safety inputs of the controller; includes steps of: b) receiving an order to activate (1002) a robot maintenance mode from an operator and, in response, d) forcing the robot arm (1006) to stop; f) inhibiting the triggering of a safety stop (1010), regardless of the configuration of the status signals received on the safety inputs; g) authorize (1012) the movement of the robot arm only as long as a dead man contactor is activated.

FR1662434A 2016-12-14 2016-12-14 PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM Active FR3060146B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1662434A FR3060146B1 (en) 2016-12-14 2016-12-14 PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1662434 2016-12-14
FR1662434A FR3060146B1 (en) 2016-12-14 2016-12-14 PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM

Publications (2)

Publication Number Publication Date
FR3060146A1 FR3060146A1 (en) 2018-06-15
FR3060146B1 true FR3060146B1 (en) 2020-11-13

Family

ID=58347569

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1662434A Active FR3060146B1 (en) 2016-12-14 2016-12-14 PROCESS FOR CONTROL OF A ROBOT ARM OF A ROBOTIZED CELL AND ROBOTIZED CELL INCLUDING A ROBOT ARM

Country Status (1)

Country Link
FR (1) FR3060146B1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2958711B1 (en) * 2013-02-21 2017-06-07 ABB Schweiz AG An industrial robot system comprising an enabling unit and a plurality of general purpose devices and a method for controlling the robot system
FR3019953B1 (en) * 2014-04-09 2016-05-06 Staubli Sa Ets METHOD FOR CONTROLLING A MULTI-AXIS AND ROBOT ROBOT FOR IMPLEMENTING SUCH A METHOD

Also Published As

Publication number Publication date
FR3060146A1 (en) 2018-06-15

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