Robot Arm Safety Extension Using User-Defined Safety Parameters
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Solution Overview
Problem
Existing safety systems for robot arms cannot bring the robot into a safe state if an end effector is in an unsafe condition, and they are limited to safety functions provided by the manufacturer, lacking flexibility and user-defined safety parameters.
Innovation Solution
A robot controller is configured to specify and provide user-defined safety parameters to a safety system, which monitors these parameters and brings the robot arm into a safe state if they fall outside a defined range, allowing for user-defined safety functions to be executed without modifying the safety-rated system, enabling third-party safety functions and improving overall safety ratings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the safety system only monitors basic robot arm operations, then the safety system remains certified and reliable, but it cannot detect unsafe conditions in end effectors or custom safety functions
Solution Approach 1:
The patent introduces a mediator component that translates user-defined safety functions into a standardized safety parameter format that the certified safety system can monitor. This intermediary layer enables custom safety monitoring without requiring modification of the certified safety system core, thus maintaining reliability while adding versatility.
Solution Approach 2:
The safety system is segmented into a certified core component and an extendable user-defined function component. The user-defined safety functions are separated from the certified safety monitoring logic, allowing the core system to remain certified while enabling custom safety capabilities through add-on modules.
2Adaptability or versatility
If the safety system is extended with user-defined safety functions, then adaptability and custom safety monitoring are improved, but the safety system requires re-certification
Solution Approach 1:
The intermediary translation layer acts as a buffer that prevents direct modification of the certified safety system. User-defined functions are translated into standardized parameters before being processed by the certified safety monitor, allowing extension without re-certification of the core system.
Solution Approach 2:
Instead of modifying the original certified safety system directly, the invention creates a copy or representation of safety parameters through user-defined functions. These copied safety parameters are monitored by the existing certified system, preserving certification while enabling customization.
3Adaptability or versatility
If third-party safety functions are integrated directly into the safety system, then versatility is improved, but system complexity and certification burden increase
Solution Approach 1:
The intermediary translation mechanism simplifies third-party integration by providing a standardized interface. Third-party safety functions are translated into universal safety parameters that the certified system can monitor, reducing architectural complexity compared to direct integration of diverse third-party functions.
Data Source
AI summary
A robot system comprising a robot arm, a robot controller for controlling the robot arm and a safety system monitoring the robot arm, where the safety system is configured to bring the robot arm into a safe mode based on at least one safety function evaluated by the safety system. The robot controller is configured to. specify at least one user-defined safety parameter range; provide the user-defined safety parameter range to the safety system; generate at least one user-defined safety parameter based on at least one user-defined safety function; provide the user-defined safety parameter to the safety system; where the safety system comprises a safety range safety monitoring function configured to: evaluating if the at least one user-defined safety parameter is within the user-defined safety range, and 15. bringing the robot arm into a safe mode in case the user-defined safety parameter is outside the user-defined safety range.