WO2018192657A1 - Robot et procédé de restriction de sécurité de la vitesse du robot - Google Patents

Robot et procédé de restriction de sécurité de la vitesse du robot Download PDF

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Publication number
WO2018192657A1
WO2018192657A1 PCT/EP2017/059367 EP2017059367W WO2018192657A1 WO 2018192657 A1 WO2018192657 A1 WO 2018192657A1 EP 2017059367 W EP2017059367 W EP 2017059367W WO 2018192657 A1 WO2018192657 A1 WO 2018192657A1
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WO
WIPO (PCT)
Prior art keywords
robot
end effector
effector assembly
speed
coordinate system
Prior art date
Application number
PCT/EP2017/059367
Other languages
English (en)
Inventor
Ivan Lundberg
Original Assignee
Abb Schweiz Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Schweiz Ag filed Critical Abb Schweiz Ag
Priority to PCT/EP2017/059367 priority Critical patent/WO2018192657A1/fr
Publication of WO2018192657A1 publication Critical patent/WO2018192657A1/fr

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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
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35473—Input limit values of speed, position, acceleration or force
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed

Definitions

  • An industrial robot is designed to be programmed to work more or less
  • a collaborative robot also referred to as a "cobot” is an industrial robot that is designed to work in close cooperation with a co-worker.
  • the co-worker will then be the working space of the robot when the robot is working, which puts new demands on how to ensure safety for the co-worker.
  • Several solutions have been proposed to ensure that the working space is safe. For example, large parts of the robot can be made harmless to collide with, by covering all parts of the robot that could hit a co-operator in padding.
  • the end effector of the robot can be provided with an elastic plastic covering that will absorb energy in the event of a collision.
  • the co-worker can be considered safe to move in these zones.
  • orientation supervision e.g. such that a pointy object of the robot is always pointing downwards.
  • these solutions do not hinder a co-worker from accidently entering a non-safe zone of the robot, or being in the way for the pointy object, even if pointing downwards.
  • both safe zones and orientation supervision might impede the performance of the robot and sometimes greatly limit its capabilities.
  • ISO/TS 15066:2016 is a technical specification of the safety requirement of a collaborative robot.
  • the ISO/TS 15066 makes a distinction between a "robot” that is defined to include the robot arm and the robot control (and not the end effector assembly), and a “robot system” that is defined to include at least: the “robot” and the end effector assembly.
  • a robot can be manufactured such that it conforms with safety regulations, how to deal with the end effector and/or a working object held by the end effector remains a problem for collaborative robots. Even if the robot is safe the parts manipulated by the robot may have sharp edges or be pointy. Thus, it is an issue for the integrator to make sure that the
  • ISO/TS 15066 suggests several methods to make the collaborative robot safe to work with, such as for example safety rated monitored stops, limitations during hand guiding, speed and separation monitoring, and power and force limitations when physical contact between operator and robot occurs intentionally or unintentionally. For the latter, ISO/TS 15066 suggests biomechanical limit criteria for human body regions.
  • WO2014/102018 A1 a method and apparatus for reduction of a potential coworker's injury is known.
  • This documents deals with the complex nature of defining biomechanical criteria.
  • the method allows production of data to estimate the injury for a well-defined intersection at a given relative speed in vector form between a human body part and a work piece of elementary shape held by a robot in motion. Based on the degree of injury, the speed of the robot may be reduced, the work piece may be held in a safe orientation or the work piece may be covered by a protector for protecting the co-worker from the work piece.
  • the above described solutions mainly rely on that the co-worker of the
  • the disclosure relates to a method for safety restricting speed of a robot.
  • the method comprises defining one direction of an end effector assembly of a robot in a mechanical interface coordinate system of the robot and setting a continuously acting speed restriction on the end effector assembly movements in the one direction, in a base coordinate system of the robot.
  • the continuously acting speed restriction is for use when operating the robot, e.g. during path planning, such that the speed of the end effector assembly will never exceed the speed restriction.
  • the method implements a user configurable safety speed limit that is dependent on the end effector assembly characteristics, and on the orientation of the end effector assembly in the base coordinate system. This is implemented by specifying the dangerous direction, or directions, for a given end effector assembly, and configuring the maximum speed that the robot can move for each of those directions.
  • the invention relies on the insight that a sharp or pointy end effector assembly is a safety risk for a human only if the robot is actually moving in the direction of the sharp or pointy end effector assembly. Actually, any end effector assembly can be considered safe if it is moving slowly enough. Then, if a co-worker injures himself on the end effector assembly, it is not due to the robot motion but rather due to the co-worker's motion, at least so long as the robot is not positioning the sharp or pointy end effector assembly in a space where a person could unexpectedly bump into the end effector assembly. In other words, the method implements a kind of tool supervision.
  • the method is straightforward for an integrator to implement, since all the integrator needs to do is to look at the end effector, optionally also a working object, and determine risky directions.
  • the robot can still move at full speed in non-risky directions, so performance of the robot is not impeded any more than what is needed to eliminate any safety risks.
  • the method makes it possible to easily eliminate the safety risk of the end effector assembly without having the co-worker to wear any protective gear, and fulfil requirements of the European Machine Directive.
  • the end effector assembly comprises an end effector solely, or an end effector holding a workpiece.
  • the speed restriction is related to characteristics of the end effector.
  • the speed restriction is related to characteristics both of the end effector and the workpiece.
  • the method comprises setting a continuously acting speed restriction on the end effector assembly movements in the one direction that is active for movements of the end effector assembly in the one direction, for all positions and orientations of the end effector assembly within at least a partial space of the whole working space of the robot.
  • the speed of the end effector assembly will be restricted continuously in the one direction such that it does not go beyond the speed restriction, in at least the partial space.
  • the partial space may be extended to the whole working space.
  • the method comprises defining a point of the end effector assembly in the mechanical interface coordinate system, and setting the continuously acting speed restriction on movements of the point in the one direction, in the base coordinate system of the robot.
  • the speed of the end effector assembly may be restricted also for movements of the robot including a rotational component of the end effector assembly.
  • the one direction is defined as a vector in coordinates in the mechanical interface coordinate system of the robot.
  • the one direction may be alternatively defined.
  • the mechanical interface coordinate system is a wrist coordinate system or tool flange coordinate system of the robot.
  • the one or several directions of the end effector assembly are defined in relation to a sharp or pointy part of the end effector assembly.
  • a defined direction is a direction of a sharp or pointy part of the end effector assembly.
  • the method comprises defining several distinct and separated different directions of the end effector assembly of the robot in the mechanical interface coordinate system of the robot, and setting a continuously acting speed restriction on the end effector assembly movements in each of the several different directions.
  • a continuously acting speed restriction on the end effector assembly movements in each of the several different directions.
  • the method comprises setting different continuously acting speed restrictions on the end effector assembly movements for the several different directions. For example, depending on the degree of sharpness of different parts of the end effector assembly, the speed restriction may be set differently.
  • the end effector assembly is moveable by the robot in a plurality of other directions that are not restricted by the speed restriction or speed restrictions.
  • the robot may move the end effector assembly efficiently in the working space.
  • the method comprises performing the defining and setting independently from any path planning of the robot.
  • the defining and setting is made independently from any path planning of the robot, and is thus characteristics of the end effector assembly.
  • the method comprises planning a robot path while respecting the one or several speed restrictions of the movements.
  • the motions of the end effector assembly will be restricted while making the robot motion program, such that the end effector movements do not violate the speed restriction(s).
  • the velocity of the end effector assembly will thus be restricted such that the velocity of the end effector assembly in the one direction does not violate the speed restriction, regardless of what speed is programmed by the user.
  • the method comprises monitoring the speed of the robot while executing the robot path and upon the one or several speed restrictions of the movements being violated, halting motion of the robot. As a precautionary action, the motions of the robot are always monitored such that any speed restrictions are not overrun.
  • the method comprises locking the one or several continuously acting speed restrictions to prevent manipulation. Thereby, the speed restrictions are safe from tampering.
  • the method comprises enabling activation respective deactivation of the one or several continuously acting speed
  • the method comprises determining the one or several continuously acting speed restrictions based on a predetermined rule for the end effector assembly. Thereby, the method may be automatically performed by the robot.
  • the disclosure relates to a computer program, comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any of the steps as disclosed herein.
  • the disclosure relates to a computer-readable medium comprising instructions, which, when executed by a computer, cause the computer to carry out the method according to any of the steps disclosed herein.
  • the disclosure relates to a programmable robot comprising an end effector assembly and a controller configured to control the motion of the end effector assembly.
  • the controller comprises one defined direction of the end effector assembly of the robot in a mechanical interface coordinate system of the robot, and a continuously acting speed restriction on the end effector assembly movements in the one direction, in a base coordinate system of the robot.
  • the controller is further configured to restrict movements of the end effector assembly in the one defined direction according to the continuously acting speed restriction.
  • the controller comprises a motion planning module configured to plan motion of the robot according to a desired path respecting the continuously acting speed restriction.
  • the controller comprises a speed supervision module configured to monitor the speed of the end effector assembly while the robot is executing the robot path, the speed supervision module being further configured to halt movement of the robot upon the one or several speed restrictions of the movements being violated.
  • Fig. 1 illustrates a collaborative robot with end-effectors.
  • Fig. 2 illustrates a schematic of a control architecture of a controller of the collaborative robot of Fig .1 .
  • Fig. 3 illustrates a flowchart of a method according to some embodiments.
  • Fig. 4 illustrates an end effector assembly in different poses within the base coordinate system of the robot.
  • a robot is here defined to be a multi-axis industrial machine that can be
  • the robot may for example have more than three axes, for example six or seven axes.
  • a collaborative robot is a type of robot that can be used in a collaborative operation.
  • a collaborative operation is an operation where a purposely designed robot works in direct cooperation with a co-worker within a defined working space.
  • the collaborative robot and the co-worker may work together, or in close proximity, to perform manufacturing or assembly tasks.
  • the co-worker is then working within the working space in which the robot and its attached end effectors and gripped working objects, if any, are able to move.
  • a maximum space is herein defined as the space within which the robot can move its end effector and any attached working object.
  • the maximum space is a space which can be swept by a wrist reference point of the robot, increased by the range of rotation and translation of each joint in the wrist.
  • the maximum space is herein also referred to as the working space of the robot.
  • a restricted space is a portion of the maximum space restricted by limiting devices that establish limits, which will not be exceeded.
  • An operating space is a portion of the restricted space that is actually used while performing all motions commanded by a task program.
  • a collaborative space is a portion of the operating space where the robot, including the end effector and any workpiece, and a co-worker can perform tasks concurrently during production operation.
  • An end effector assembly may comprise an end effector solely, or an end effector holding a workpiece.
  • An end effector e.g. a gripper, may also be referred to as a tool.
  • Fig. 1 illustrates a collaborative robot 1 with a controller 10 and a first end effector assembly 3a and a second end effector assembly 3b.
  • the robot 1 comprises a first articulated arm 2a and a second articulated arm 2b arranged to a base 5 of the robot 1 .
  • the base 5 defines a base coordinate system with the axes Xi, Yi, Zi and origin Oi.
  • the first arm 2a is equipped with the first end effector assembly 3a attached to a first tool flange 4a of the first arm 2a.
  • the first end effector assembly 3a comprises a first end effector being a first gripper with two fingers.
  • the second arm 2a is equipped with the second end effector assembly 3b attached to a second tool flange 4b of the second arm 2b.
  • Each of the first end effector and second end effector (or tool) defines a tool coordinate system with the axes Xt, Yt, Zt, respectively.
  • the origin of a tool coordinate system, Ot is a tool center point (TCP).
  • a TCP is defined for a given application with regard to the mechanical interface coordinate system.
  • the first end effector of the robot 1 defines a first tool coordinate system with the axes Xti, Yti , Zti and origin On, and a first TCPi.
  • the second end effector of the robot 1 defines a second tool coordinate system with the axes Xt2, Yt2, Zt2 and origin Ot2, and a second TCP2.
  • the controller 10 is configured to generate a plurality of poses to which the first end effector assembly 3a is to be moved by the first robot arm 2a. Also, the controller 10 is configured to generate a plurality of poses to which the second end effector assembly 3b is to be moved by the second robot arm 2b. A pose includes both an orientation and a position of an end effector assembly 3a, 3b. With that the controller 10 is configured to do something, may include that the controller 10 is programmed to do something.
  • the controller 10 comprises at least one defined direction of the at least one end effector assembly 3a, 3b of the robot 1 in a mechanical interface coordinate system of the robot 1 .
  • the controller 10 comprises information about the at least one defined direction, where the defined direction is
  • the controller 10 further comprises a continuously acting speed restriction on the end effector assembly movements in the at least one direction.
  • the controller 10 is further configured to restrict movements of the robot 10 in the one defined direction according to the continuously acting speed restriction.
  • the speed restriction is set to the controller 10 such that it continuously acting on the movements of the robot 1 .
  • the controller 10 may comprise several defined directions for each end effector assembly 3a, 3b of the robot 1 , and for each defined direction a continuously acting speed restriction.
  • a speed restriction comprises a maximum value of the velocity of the end effector assembly in the defined direction, in the base coordinate system of the robot 1 .
  • the speed restriction is set as a value e.g. 100 mm/s.
  • the controller 10 is configured to monitor the velocity of the mechanical interface coordinate system in relation to the base coordinate system, and assure that the velocity of the mechanical interface coordinate system in the defined direction does not go beyond the set speed restriction.
  • the speed restriction is active when the robot 1 is powered.
  • the motion planning module 14 is configured to plan motions of the robot considering e.g. any speed restrictions, way points, etc.
  • the motion planning module 14 is configured to plan motion of the robot according to a desired path respecting the continuously acting speed restriction. Thereby, the planned speed of the end effector assembly 3a, 3b in the defined direction will never go beyond the speed restriction.
  • the speed supervision module 15 is configured to monitor the speed of the robot 1 such that no speed restriction of the robot 1 is violated.
  • the speed supervision module 15 may further be configured to monitor the speed of the end effector assembly 3a, 3b while the robot 1 is executing the robot path.
  • the speed supervision module 15 may also be configured to halt movement of the robot 1 upon the one or several speed restrictions of the movements being violated.
  • the method comprises defining S1 one direction of an end effector assembly of a robot in a mechanical interface coordinate system of the robot.
  • the robot may e.g. be the robot 1 depicted in Fig. 1 .
  • the one end effector assembly referred to herein may thus be any of the first end effector assembly 3a and second end effector assembly 3b of the robot 1 .
  • a first direction of the first end effector assembly 3a is defined, and a second direction of the second end effector assembly 3b is defined.
  • the first and second directions are here the same, but in different coordinate systems, as the first end effector assembly 3a and the second end effector assembly 3b have the same shape.
  • the one direction of an end effector assembly is defined in relation to a sharp or pointy part of the end effector assembly, e.g. a sharp or pointy edge. In other words, any dangerous direction of the end effector assembly is identified, that corresponds to a direction where rapid movements could possibly cause harm to the co-worker.
  • Such directions may be determined by an integrator at the spot by manually observing the end effector assembly, or may be defined in beforehand for each and every end effector assembly.
  • a direction may be defined as a vector, e.g. a unit vector, in coordinates in the mechanical interface coordinate system of the robot 1 .
  • the coordinates are expressed as translations along X, Y and Z as ⁇ x, ⁇ y and ⁇ z, respectively.
  • a point in the mechanical interface coordinate system may be expressed as coordinates in X, Y, Z, which is also the end coordinates of a vector with origin in zero.
  • An orientation is expressed as rotations along X, Y and Z are expressed as ⁇ A, ⁇ B and ⁇ C, respectively.
  • the rotations may also be called roll ⁇ , pitch ⁇ and yaw ⁇ , respectively.
  • the method comprises setting S2 a continuously acting speed restriction on the end effector assembly movements in the one direction.
  • a first continuously acting speed restriction is set on the first end effector assembly movements in the first direction
  • a second continuously acting speed restriction is set on the second end effector movements in the second direction.
  • the first continuously acting speed restriction and the second continuously acting speed restriction are here set to be the same, thus having the same value.
  • continuously acting speed restriction is here meant a speed restriction that is continuously, i.e. permanently, acting on the movements of the end effector assembly in the one direction.
  • the speed restriction is continuously active for movements of the end effector assembly in the one direction for all poses of the robot, i.e. for all positions and orientations, of the end effector assembly.
  • the speed restriction will limit all movements of the first end effector assembly 3a and the second end effector assembly 3b of the robot 1 in the identified first direction and the second direction, respectively.
  • rapid movements thus velocities above the speed restriction, of the end effector assemblies 3a, 3b in the defined directions, respectively, are avoided.
  • the method will then also comprise operating S5 the robot 1 under influence of the continuously acting speed restriction or restrictions.
  • a dangerous direction of the end effector assembly is defined in the shape of a vector D mn in the mechanical interface coordinate system with the axes X mn , Ymn, Z mn , which could be any of the mechanical interface coordinate systems of Fig. 1 .
  • a continuously acting speed restriction V ma x is set on the movements of the end effector assembly in the dangerous direction with respect to the base coordinate system of the robot 1 .
  • the velocity V of the vector Dmn, translated into the base coordinate system is restricted to be maximum V ma x.
  • the defined direction D mn is in the same direction as the positive direction of the axis Z mn .
  • the robot 1 is only allowed to move the end effector in the positive direction of the axis Z mn , translated into the base coordinate system, up to the maximum velocity Vmax.
  • the vector D mn thus has a constant direction in the mechanical interface coordinate system, but in the base coordinate system the direction will change depending on the position and orientation of the mechanical interface system in the base coordinate system.
  • the direction of the speed restriction is calculated in the base coordinate system and the speed of the end effector assembly is then restricted so that the end effector assembly will not move faster than the speed restriction in the base coordinate system in the current direction of the vector D mn .
  • the speed restriction of the defined direction is thus continuously calculated as a maximum velocity vector of a defined point of the end effector assembly in the base coordinate system. If no defined point is explicitly specified, e.g. by the integrator, the defined point is taken as the origo of the mechanical interface coordinate system.
  • the direction (and optionally the position as will be explained) of the speed restriction is calculated in the base coordinate system, and the movement speed of the designated end effector with respect to the base coordinate system is then restricted so that the end effector assembly will not move faster than the speed restriction in the base coordinate system.
  • the continuously acting speed restriction is thus set for end effector assembly movements in the base coordinate system of the robot 1 .
  • the base coordinate system is here considered to be still during movement of the robot 1 .
  • the speed of the end effector is here not limited.
  • a movement of the robot 1 entails that the mechanical interface coordinate system will travel in the base coordinate system of the robot 1 .
  • the movement is a pure translation all points in the mechanical interface coordinate system will have the same speed in the base coordinate system. However, if the movement has a rotational component (i.e. A, B and/or C) different points in the mechanical interface coordinate system will have different speeds with respect to the base coordinate system.
  • a rotational component i.e. A, B and/or C
  • the integrator not only define a direction expressed in the mechanical interface coordinate system, but also a point in the mechanical interface coordinate system for which to calculate the speed in the defined one direction, which speed shall be restricted.
  • the controller 10 will then calculate the velocity of the point in the defined direction with respect to the base coordinate system.
  • the method comprises defining S1 a point of the end effector assembly in the mechanical interface coordinate system, and setting S2 the continuously acting speed restriction on movements of the point in the one direction, in the base coordinate system of the robot.
  • a suitable point would be the center of the fingertips, e.g. as close as possible to the dangerous edge of the end effector assembly. This point is illustrated as P mn in Fig. 4.
  • P mn the point is illustrated as P mn in Fig. 4.
  • the user can specify multiple points or a region. If a region is used all points within the region should be affected by the speed restrictions defined by the user.
  • a speed reduction may be made for a relative speed vector between the work piece held by the robot and a body part of the co-worker, and hence, if the robot changes direction of the work piece in the working space, the speed reduction will not follow.
  • the continuously acting speed restriction is active for movements of the end effector assembly in the one direction, for all positions and orientations of the end effector assembly, within at least a partial space of the whole working space of the robot.
  • the speed restriction may be set to be active for movements of the end effector assembly in the one direction for all poses, i.e. all positions and orientations, of the end effector assembly in at least a partial space of the whole working space of the robot 1 .
  • the continuously acting speed restriction will still restrict the movement of the end effector assembly in the one direction.
  • at least a partial space of the whole working space is meant a partial three-dimensional space of the whole working space of the robot 1 .
  • the partial space is the collaborative working space of the robot 1 .
  • all end effector assembly movements can be considered safe in the space where the co-worker is, but the robot can still move the end effector assembly without the speed restriction outside the collaborative working space.
  • the continuously acting speed restriction is active for end effector assembly movements in the one direction in the whole working space of the robot 1 .
  • the end effector assembly being any of the first end effector assembly 3a, or second end effector assembly 3b, is in the working space of the robot 1 , when the end effector assembly is moved by the robot 1 in the one direction, the speed is restricted in accordance with the speed restriction.
  • the inverse kinematic functions define a function where the
  • the controller 10 can find out what the different joint angle velocities will cause in terms of the end effector assembly linear and angular velocities, and thus in the defined one direction, here the first direction and the second direction. And vice versa, the controller 10 can find out what the speed restriction of the defined one or several directions, here the first direction of the first end effector assembly 3a and the second direction of the second end effector assembly 3b, will cause in terms of the different joint angle velocities.
  • a speed restriction set on movements of an end effector assembly in the one direction can be mapped to a corresponding speed restriction for each angular velocity of a joint of the robot 1 in any pose of the robot 1 , such that the end effector assembly does not move beyond the speed restriction in the one direction.
  • the robot 1 can only move the end effector assembly in the defined direction of movement up to the speed of the speed restriction.
  • the end effector assembly is moveable by the robot 1 in all other directions that are not restricted by the speed restriction, or any other speed restriction or limitation.
  • the movements of the robot 1 are only partly restricted, and the robot 1 can efficiently perform work while a co-worker securely can be in the working space of the robot 1 .
  • the robot 1 may identify the end effector assembly, e.g. by camera supervision or other identification means, and find the corresponding defined one or several directions and one or several speed restrictions, and optionally starting points for the one or several directions, in the table of the end effector assembly.
  • the controller 10 may thus automatically perform any or even all the steps of the method.
  • the table should be defined in beforehand by a robot technician, and preferably made tamper proof.
  • the steps of the method may be defined in a computer program, comprising instructions which, when the program is executed by a computer e.g. the controller 10, cause the computer to carry out the method.
  • the steps of the method may also be defined in a computer-readable medium, e.g. a removable memory such as a USB memory stick.
  • the computer-readable medium then comprises instructions, which, when executed by a computer, cause the computer to carry out the method.
  • the one or several directions and speed restrictions may alternatively be set manually into controller 10, e.g. to the memory module 1 1 , by the robot integrator via a user interface of the robot 1 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot et un procédé de restriction de sécurité de la vitesse d'un robot, consistant à définir (S1) une direction d'un ensemble effecteur d'extrémité d'un robot dans un système de coordonnées d'interface mécanique du robot et à régler (S2) une restriction de vitesse agissant en continu sur les mouvements de l'ensemble effecteur d'extrémité dans ladite direction, dans un système de coordonnées de base du robot.
PCT/EP2017/059367 2017-04-20 2017-04-20 Robot et procédé de restriction de sécurité de la vitesse du robot WO2018192657A1 (fr)

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PCT/EP2017/059367 WO2018192657A1 (fr) 2017-04-20 2017-04-20 Robot et procédé de restriction de sécurité de la vitesse du robot

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