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Method and control device for avoiding collisions between cooperating robots

  • US 6,678,582 B2
  • Filed: 05/30/2002
  • Issued: 01/13/2004
  • Est. Priority Date: 05/30/2002
  • Status: Expired due to Term
First Claim
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1. A method of avoiding collisions between components of a multi-axial industrial robot and at least one other object, said method comprising repeatedly:

  • determining a stopping time for an automatically or manually controlled robot movement of the multi-axial industrial robot on the basis of actual and past joint positions of the multi-axial industrial robot and velocities of each robot joint;

    forecasting a configuration of a trajectory of the components of the multi-axial industrial robot at said stopping times;

    checking the predicted configuration through distance/interference algorithms for interference of the multi-axial industrial robot components with components of the at least at least one other obiect; and

    stopping the robot and/or said other objects in case a collision is imminent.

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