Manipulator Safety Constraints Integrated With Motion Instructions
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Solution Overview
Problem
Developing a safety configuration for robots that adapts to varying job requirements while minimizing restrictions on the robot's movement is labor-intensive and prone to errors due to the need for manual management of constraints during program development.
Innovation Solution
A method and apparatus that integrate action and constraint instructions within a manipulator control program, utilizing a distinct safety controller to monitor and enforce constraints, allowing for adaptive and efficient safety configuration implementation, including simulation during development and different safety modes for operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual management of safety constraints is implemented during program development, then safety configuration can be adapted to job requirements, but the process becomes labor-intensive and error-prone
Solution Approach 1:
The system enables automatic generation of safety configurations by having the robot control program self-describe its safety requirements through integrated constraint instructions. The safety controller automatically processes these instructions to generate the safety configuration, eliminating the need for manual safety configuration development while maintaining adaptability to different jobs.
Solution Approach 2:
Safety constraints are defined in advance within the robot control program itself, during the normal program development process. This preliminary integration of safety constraints into the action instructions allows the safety configuration to be automatically generated before robot operation begins, reducing both manual effort and errors.
2Reliability
If safety constraints are defined separately from action instructions, then safety monitoring can be independent, but synchronization between constraints and manipulator movements becomes difficult
Solution Approach 1:
The system merges safety constraint instructions with normal action instructions into a single integrated control program. Both types of instructions are written in the same programming language and executed together, ensuring automatic synchronization between safety constraints and manipulator movements while maintaining independent safety monitoring through the dedicated safety controller.
3Ease of operation
If the safety controller is integrated with the operation controller, then coordination is improved, but the risk of malfunctions affecting both controllers increases
Solution Approach 1:
The system segments the control system into two independent controllers: an operation controller for executing action instructions and a safety controller for monitoring constraint instructions. Both controllers run independently on separate hardware platforms, preventing a malfunction in one controller from affecting the other, while still achieving coordinated safety monitoring and execution.
4Device complexity
If constraint instructions are not integrated into the control program, then program simplicity is maintained, but safety configuration development requires considerable qualified labor
Solution Approach 1:
The system uses a universal programming language that serves both operational control and safety constraint definition. The same programming constructs and syntax are used for both action instructions and constraint instructions, allowing programmers to define safety requirements using familiar programming patterns without learning separate safety configuration languages or tools.
Data Source
AI summary
A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.