초록 ▼

In a system for controlling the motion of an industrial robot, a resultant translational velocity of a preselected point on the robot is calculated from a plurality of velocity values such as actual velocity values detected by sensors or target velocity values computed from a velocity reference valu

In a system for controlling the motion of an industrial robot, a resultant translational velocity of a preselected point on the robot is calculated from a plurality of velocity values such as actual velocity values detected by sensors or target velocity values computed from a velocity reference value. Upon the exceeding of a predetermined maximum velocity by the calculated resultant velocity, all robot motion is terminated. Robot motion may also be stopped upon detecting an excessive difference between an actual angular velocity of one robot component and a respective desired or target angular velocity of that robot component, upon detecting an excessive translational acceleration of a predetermined point on the robot, or upon detecting a position of the robot part or point located more than a predetermined distance from a reference position.

대표청구항 ▼

A system for controlling the motion of a robot having a multiplicity of parts connected to each other for rotation relative to each other about respective axes of rotation, said system comprising: drive means operatively connected to said parts for rotating same about respective ones of said axes; c

A system for controlling the motion of a robot having a multiplicity of parts connected to each other for rotation relative to each other about respective axes of rotation, said system comprising: drive means operatively connected to said parts for rotating same about respective ones of said axes; converter means operatively coupled to said drive means for transforming a velocity reference value defined in terms of fixed spatial coordinates into command signals transmitted to said drive means for modifying angular velocities of said parts about said axes so that an actual velocity of a point on said robot approaches said velocity reference value; and velocity monitoring means operatively connected to said drive means for terminating operation of said drive means upon detecting an impermissibly high motion parameter, said velocity monitoring means including means operatively connected to at least one of said converter means and said drive means for calculating from a plurality of velocity values a resultant vectorial velocity defined with respect to said fixed spatial coordinates and for comparing said resultant vectorial velocity with a predetermined maximum value.