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Method and apparatus for limiting the movement of a robot, and a robot equipped with said apparatus

  • US 20040249508A1
  • Filed: 04/22/2004
  • Published: 12/09/2004
  • Est. Priority Date: 04/23/2003
  • Status: Active Grant
First Claim
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1. A method of limiting the movement of a robot, said method comprising the steps of:

  • defining in a memory a virtual safety barrier including a trajectory of a work or tool mounted on a wrist of a robot in operation;

    defining at least two three-dimensional spatial regions including parts of the robot including said work or tool;

    matching a predicted position of said defined three-dimensional spatial region, which is obtained by trajectory calculations, with said virtual safety barrier; and

    carrying out a control to stop the movement of the arm including any one of the three-dimensional spatial regions if at least part of the predicted position, which is obtained by trajectory calculations, of any one of the defined three-dimensional spatial regions is included in said virtual safety barrier.

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