A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position

A technology of stop position and robot, applied in the direction of program control, program control manipulator, instrument, etc., can solve the problems of manual correction and return program, unsuitable for determining the return path of the robot, time-consuming and other problems, and achieve simple and robust error handling , the effect of simplifying error handling

Inactive Publication Date: 2015-07-29
ABB TECH AG
View PDF9 Cites 32 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The disadvantage of this method is that the programmer must add attribute data to each taught point during the programming of the robot, which is time consuming
Another disadvantage of this method is that if interference does occur between the robot and the object, the operator must manually correct the return procedure
Also, the method is not suitable for determining the return path of multiple robots working together in a robotic cell

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position
  • A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position
  • A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] figure 1 A teach-in program-based industrial robot 1 is shown following a programmed path 2 comprising a plurality of programmed positions 3 . The teaching program runs on the robot controller 5 which controls the movement of the robot. figure 1 Also shown is the robot in restart position 6 (dotted line). Predefine the restart position of the robot, which is the position to which the robot must return when recovering after an emergency stop due to an error. If the robot cell includes more than one robot, define restart positions for each robot in the cell. The restart position is where the robot is moved to when the robot in the cell stops due to an error. The robot has stopped at stop position 8. The robot is located in a robot cell containing the workstation 9 . The robot should be moved from stop position 8 to restart position 6 without colliding with workstation 9 . If the robot cell includes more than one robot, all robots stop during the emergency stop.

[...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The present invention relates to a method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position when the robot has been stopped during operation due to an error. The apparatus comprises a receiving part (12) adapted to receive a request for a recovery path and information on the stop position of the robot, a path generating part (14) adapted to generate a collision free recovery path for the robot upon receiving said request, based on the predefined restart position and the stop position of the robot using a path planning algorithm that generates robot positions connected by collision free path segments, and a programming part (16) adapted to generate the return program based on the generated return path.

Description

technical field [0001] The present invention relates to a method and an apparatus for automatically generating a collision-free return program for returning a robot from a stop position to a preset restart position when the robot stops due to an error during execution. Background technique [0002] Robust fault handling is difficult and time-consuming for robot programmers. When a robot in a robot cell stops due to an error, the robot must be restarted in a safe manner. This involves moving the robot to a preset restart position and then restarting the robot. Recovery paths can be pre-programmed, or the operator must push the robot to a safe location to restart. [0003] It is important that the robot does not collide with any obstacles in the cell on the path from the stop position, ie the position where the robot stops, to the restart position. Today, the path to be followed by the robot is pre-programmed during the programming of the robot if the robot stops along a pr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCG05B2219/40476B25J9/1666G05B2219/40224B25J9/1669B25J9/1676G05B2219/50112
Inventor M·斯特兰德伯格
Owner ABB TECH AG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap