Robot trajectory control including emergency evacuation path system and method

• US 20070142967A1
• Filed: 12/20/2005
• Published: 06/21/2007
• Est. Priority Date: 12/20/2005
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Mirza, Khalid, Volcic, Edward
• Granted Patent: US 7,627,394 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 2219/40521 Alternative, allowable path substitution if arm movements not possible
• CPC Class Codes: G05B 2219/50109 Soft approach, engage, retract, escape, withdraw path for tool to workpiece

Abstract

A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

Claims

1. A process for controlling a robot path of a robot during emergency evacuation from the main path, the process comprising:

providing a main path for movement of the robot; and

providing a safe evacuation path from each point in the main path to get to a safe position.

2. A process for controlling a robot path of a robot according to claim 1, wherein a programmer teaches the robot or sets points to form the main path with safe evacuation path considerations in mind such that along any point on the main path the robot can be safely moved to a safety point or safe position.

3. A process for controlling a robot path of a robot according to claim 1, wherein the safe evacuation path includes safety points wherein each safety evacuation path is associated with one point along the travel path or is associated with plural points along the travel path and extends from the associated point or points to a safety level one point along the safety path and to a safety level two point along the safety path and on to the unload position or safe position.

4. A process for controlling a robot path of a robot according to claim 1, wherein the robot has a primary motion aspect and plural axes each having a motion aspect and the main path is defined based on positions of the axes assigned to the position of the primary motion via a path table.

5. A process for controlling a robot path of a robot according to claim 4, wherein the robot has a turntable and the primary motion is the motion of the turntable with a unique position provided for each position of the turn table based on a resolution of the turn table encoder monitoring the position of the turntable.

6. A process for controlling a robot path of a multiaxial robot having a tool center point, the process comprising:

moving the tool center point along a travel path defined by location points;

defining plural safety paths by location points, with each of the location points of the travel path associated with one of the safety paths;

upon a need to remove the robot from the travel path moving the robot along one of the safety paths based on a current location point of the robot along the travel path.

7. A process according to claim 6, wherein the travel path is defined with safety markers associated with some of the location points, wherein the safety paths are associated with the safety markers and one of the safety paths is selected for the step of moving the robot along one of the safety paths based on the proximity of the current location to the safety markers.

8. A process according to claim 7, wherein the robot is moved along the travel path based on a motion aspect of the robot being designated as a primary motion with a synchronizing of motions of axes of the robot with the primary motion wherein positions of the axes are assigned to the position of the primary motion via a path table for defining the travel path.

9. A process according to claim 8, wherein the motions of axes of the robot include the secondary axes motion as the robot moves along the travel path and the synchronization of the motion of the secondary axes with the primary motion includes using position encoders provided at the path of a turntable as a primary motion.

10. A process according to claim 6, wherein the need to remove the robot from the travel path includes one of a stopping the turntable or a forced emergency stopping of the turntable before moving the robot along one of the safety paths based on the current location point of the robot along the travel path.

11. A multiaxial robot path control system, comprising:

system memory means for storing data;

a multiaxial robot with turntable;

a control unit for moving a tool center point along a travel path defined by location points saved in said memory means; and

plural safety paths saved in said memory means, with each of the location points of the travel path associated with one of the safety paths, wherein upon a need to remove the robot from the travel path, the control unit moves the robot along one of the safety paths based on a current location point of the robot along the travel path.

12. A process according to claim 11, wherein the travel path is defined with safety markers associated with some of the location points, wherein the safety paths are associated with the safety markers and one of the safety paths is selected for moving the robot along one of the safety paths based on the proximity of the current location point to the safety markers.

13. A system according to claim 12, wherein the robot is moved along the travel path based on a motion aspect of the robot being designated as a primary motion with a synchronizing of motions of axes of the robot with the primary motion wherein positions of the axes are assigned to the position of the primary motion via a path table for defining the travel path.

14. A system according to claim 13, wherein the motions of axes of the robot include secondary axes motion as the robot moves along the travel path and the synchronization of the motion of the secondary axes with the primary motion includes using position encoders provided at the path of a turntable as a primary motion.

15. A system according to claim 14, wherein the need to remove the robot from the travel path includes one of a stopping the turntable or a forced emergency stopping of the turntable before moving the robot along one of the safety paths based on the current location point of the robot along the travel path.