Distance measuring system and method, and robot system using same
A technology of distance measurement and distance, which is applied in the field of robot systems, can solve the problems of expensive methods and achieve the effect of reliable interference
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[0031] figure 1 A robot system according to the invention is shown schematically and by way of example only. The robot arm 1 comprises at least two arm elements 2 , 3 , which are connected to each other or to a tool 8 (for example grippers) via joints 4 , 5 , 6 which are pivotable via motors, preferably respectively in two degrees of freedom, to a base 7 . The transmitter-receiver unit 9 of the distance measuring system can be installed at any position of the robot arm 1; figure 1 Such a transmitter-receiver unit 9 is shown at the joint 6 between the arm element 3 and the tool 8 on the distal side; further transmitter-receiver units 9 may be used as in figure 1 It is distributed along the arm element 3 as shown by the dashed line. The joint 5 and the proximal arm element 2 (although not shown in the figures) can be equipped with a transmitter-receiver unit 9 in a corresponding manner in order to monitor over their entire length for a possible collision with an object Robot...
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