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A method and device for avoiding collisions between an industrial robot and an object

A technology of industrial robots and robots, applied in the directions of instruments, manipulators, simulators, etc., can solve the problems of robot collision and large margin, and achieve the effect of improving estimation and reducing margin.

Active Publication Date: 2009-08-19
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A disadvantage of the disclosed method is that large errors in the predicted configuration may occur since the predicted configuration is based only on past and present joint positions, velocities and accelerations
This leads to: In order to avoid collisions between robots, a large margin has to be used

Method used

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  • A method and device for avoiding collisions between an industrial robot and an object
  • A method and device for avoiding collisions between an industrial robot and an object
  • A method and device for avoiding collisions between an industrial robot and an object

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Embodiment Construction

[0034] In the following, the combination of figure 1 The invention will be described with respect to the workspace shown in , which includes two multi-axis robots 1 , 2 , and a stationary object 3 . However, the collision avoidance device and method according to the present invention may be used in any workspace comprising two or more objects, such as multi-axis robots, stationary objects or any combination of moving objects. A workspace can include one or more multi-axis robots. Further, the workspace may include one or more stationary or moving objects.

[0035] The robots 1 , 2 are connected to a common control unit 5 . The control unit 5 is, for example, a conventional robot control system comprising: the necessary hardware, such as one or more processor units, memory means and input and output means; and software for accomplishing normal robot control tasks. The control unit comprises: a program memory 7 for storing an application program comprising program instruction...

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Abstract

The invention relates to a device for avoiding collisions between components of a multi-axial industrial robot (1,2) and at least one other object (1,2,3), wherein the device comprises a computation unit (13) adapted to estimate the time left until a collision occurs between the robot and the object, to compute a stopping time for the robot, and to compare the estimated time left until collision and the stopping time for the robot, and to generate an order to stop the robot or the object in case the estimated time left until collision is close to the stopping time for the robot.

Description

technical field [0001] The invention relates to a method and a device for avoiding collisions between parts of a multi-axis industrial robot and at least one other object. Background technique [0002] A problem related to industrial robots is how to prevent collisions between the robot and objects belonging to the same work cell as the robot. Objects can be physical parts or assemblies of parts that make up a solid. Objects of different types can coexist in the robot workspace. Objects can be moving, or they can be stationary. Mobile objects are, for example, mechanical units such as robots, external axes of robots, and positioners. Examples of stationary objects are rotary tables, fixtures and maintenance devices. Collisions in the robot workspace can occur between moving objects, or between moving and stationary objects. [0003] Disturbances caused by the adjacency of objects in the workspace or crossing tracks need to be avoided. Otherwise, the relatively high spe...

Claims

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Application Information

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IPC IPC(8): G05B19/4061B25J9/16
CPCG05B2219/39097B25J9/1676G05B2219/39088G05B2219/39084G05B19/4061G05B2219/39091
Inventor M·斯特兰德柏格
Owner ABB (SCHWEIZ) AG
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