Robot Arm Safety Monitoring With User-Defined Parameter Ranges
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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 pre-defined 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, which are monitored by a safety system to ensure the robot arm is brought into a safe state if these parameters fall outside a defined range, allowing for extended safety functions without modifying the safety-rated system and enabling third-party safety functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the safety system uses only pre-defined safety functions provided by the manufacturer, then the safety system is simple and certified, but the flexibility and adaptability are limited
Solution Approach 1:
The safety system is segmented into two independent parts: (1) a certified safety system providing basic safety functions, and (2) a user-defined safety function module that can be added without affecting the certification of the core safety system. This allows users to extend safety functionality while maintaining the integrity of the certified portion.
Solution Approach 2:
The robot controller is designed to serve dual purposes: it acts as both the control system for robot operations and as a platform for executing user-defined safety functions. This multi-functionality allows the system to maintain simplicity while gaining extended safety capabilities through user-programmed functions.
2Adaptability or versatility
If the safety system is modified to include user-defined safety functions, then the flexibility increases, but the safety system requires re-certification
Solution Approach 1:
The system separates certified safety functions from user-defined safety functions, allowing the certified portion to remain unchanged and thus maintain its certification status, while user-defined functions can be added or modified without affecting the certification validity.
Solution Approach 2:
The robot controller serves as an intermediary between the certified safety system and user-defined safety functions. It executes user-defined functions while the certified safety system independently monitors critical safety parameters, ensuring that user-defined functions do not compromise the certified safety level.
3Reliability
If the safety system monitors only robot arm parameters, then the system is simple, but it cannot detect unsafe states of end effectors or external components
Solution Approach 1:
The robot controller is enhanced to perform multiple monitoring functions: it continues to monitor robot arm parameters while also executing user-defined safety functions that can monitor end effectors, external components, and process-related safety conditions, creating a universal monitoring platform.
Solution Approach 2:
The system enables users to program their own safety monitoring functions using the robot controller's existing resources and interfaces, allowing the system to self-extend its monitoring capabilities without requiring additional dedicated safety hardware for each monitoring function.
4Adaptability or versatility
If third-party providers cannot provide safety functions, then the system remains simple and certified, but the variety of safety functions is limited
Solution Approach 1:
The robot controller is designed as a universal platform that can execute safety functions from any provider, whether manufacturer-provided or third-party. This allows diverse safety functions to be integrated through software without requiring different hardware architectures, maintaining simplicity while enabling variety.
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 tospecify 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; andbringing the robot arm into a safe mode in case the user-defined safety parameter is outside the user-defined safety range.