Robot movement regulating method, robot system, and robot movement regulating device

The safety of robot work can be enhanced and the floor space of a factory or the like can be effectively used. The method is performed by defining an arm occupying area (A1, A2, A3, A4, A5, A6) including an arm of a robot and a work and a tool mounted on a wrist and a movement prohibited area (50) w...

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Bibliographic Details
Main Authors KARIYAZAKI HIROKAZU, MAEHARA SHINICHI, YAMAMOTO MINORU, TANAKA MICHIHARU
Format Patent
LanguageChinese
English
Published 03.10.2012
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:The safety of robot work can be enhanced and the floor space of a factory or the like can be effectively used. The method is performed by defining an arm occupying area (A1, A2, A3, A4, A5, A6) including an arm of a robot and a work and a tool mounted on a wrist and a movement prohibited area (50) which the arm is not allowed to enter in a memory, estimating the coasting angle of each axis of therobot when the robot is urgently stopped while a command to move to the next target position (302) is executed, obtaining the coasting predicted position (303) of the robot by adding the coasting angle of each axis of the robot to the next target position (302), confirming whether or not the arm occupying area (A1, A2, A3, A4, A5, A6) in the coasting predicted position (303) enters the movement prohibited area (50), and when the entrance is confirmed, performing control to immediately stop the movement of the robot.
Bibliography:Application Number: CN200880119409