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Method for preventing and device for controlling colliding between cooperated manipulators

A control device, robot technology, applied in the direction of computer control, general control system, program control, etc.

Inactive Publication Date: 2003-12-17
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these methods require prior knowledge of the robot trajectory

Method used

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  • Method for preventing and device for controlling colliding between cooperated manipulators
  • Method for preventing and device for controlling colliding between cooperated manipulators
  • Method for preventing and device for controlling colliding between cooperated manipulators

Examples

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Embodiment Construction

[0073] figure 1 denotes the robot motion M, which is controlled by a known robot controller (not shown) and is to be monitored by a method according to the invention called collision avoidance method 1.0 in order to avoid collisions. During the start-up / initialization phase 1.1, possible collisions between the robot, the tool and stationary objects, ie objects fixed in the work cell, are determined. The work envelope, ie the enveloping surface of the work space entered by the robot, is used to determine whether there are possible collisions with other robots and / or stationary objects. Thereafter, during the movement M of the robot, the collision control C is carried out periodically by the method 1.0 of the invention at times t divided by the time interval Δt.

[0074] Detection data S from the robot and / or the work cell, such as angles and velocities of the robot joints, camera images, etc., are provided to the collision avoidance method 1.0 and utilized together with other ...

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PUM

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Abstract

A method of avoiding collisions between a robot and at least one other object, e.g. another robot is disclosed in which the user does not need to make any provisions in a robot program for avoiding collisions, e.g. defining common work-areas. Furthermore, the inventive method allows for automatic configuration of the workcell from a collision avoidance standpoint. It determines automatically which components have potential collisions with which other components. Since the inventive method is based on predicting the configurations of the moving components over a period of time sufficient enough to allow the machines to stop safely and checks for interference, a priori knowledge of trajectories is not required. If a collision is predicted the machines are commanded to a stop on or off their paths. In this way the inventive collision avoidance method can also be used as a safeguard with other explicit methods.

Description

technical field [0001] The invention relates to a method for avoiding a collision between a robot and at least one other object, and a collision avoidance method for implementing the invention for avoiding a collision between a robot and one or several other objects control device. Background technique [0002] By general definition, two objects A and B are in a collision state if they share the same space at the same time. That is to say, there is at least one point in A and at least one point in B, which have the same coordinates with respect to a common reference coordinate system. [0003] Robots and other objects that are to be avoided from colliding with robots are collectively referred to as collaborative mechanisms because they operate together in some kind of industrial process. Cooperative operations can be active (as an example of a collaborative mechanism, where a robot cooperates with another robot) or passive. Since modern industrial robots move at considera...

Claims

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Application Information

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IPC IPC(8): B25J19/06B25J9/10B25J9/16
CPCG05B2219/39097B25J9/1676G05B2219/39271G05B2219/34258G05B2219/39082B25J9/161
Inventor 艾尔-侯赛恩·沃尔德
Owner KUKA ROBOTER
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