Robot trajectory control including emergency evacuation path system and method
First Claim
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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, said main path having evacuation points;
moving the robot along said main path;
providing at least one final safe position and at least one safety level point, said at least one safety level point being located between one or more said evacuation points and said at least one final safe position, said at least one safety level point being associated with a plurality of said evacuation points, said at least one final safe position, said at least one safety level point and one of said evacuation points defining one or more safe evacuation paths;
moving the robot along one of said safe evacuation paths when an emergency situation exists such that the robot moves from said one of said evacuation points through said at least one safety level point to said at least one final safe position.
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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.
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Citations
15 Claims
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1. A process for controlling a robot path of a robot during emergency evacuation from the main path, the process comprising:
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providing a main path for movement of the robot, said main path having evacuation points; moving the robot along said main path; providing at least one final safe position and at least one safety level point, said at least one safety level point being located between one or more said evacuation points and said at least one final safe position, said at least one safety level point being associated with a plurality of said evacuation points, said at least one final safe position, said at least one safety level point and one of said evacuation points defining one or more safe evacuation paths; moving the robot along one of said safe evacuation paths when an emergency situation exists such that the robot moves from said one of said evacuation points through said at least one safety level point to said at least one final safe position. - View Dependent Claims (2, 3, 4, 5)
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6. A process for controlling a robot path of a multiaxial robot having a tool center point, the process comprising:
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moving the tool center point along a travel path defined by a plurality of location points; defining a first safety robot path, said first safety robot path comprising a first safety level robot position and a first final safety robot position, said first safety level robot position being associated with a first plurality of said location points of said travel path; defining a second safety robot path, said second safety robot path comprising a second safety level robot position and a second final safety robot position, said first safety level robot position being associated with a second plurality of said location points of said travel path; upon a need to remove the robot from the travel path moving the robot along one of said first safety robot path and said second safety robot path based on a current location point of the robot along the travel path such that the robot moves from said current location point to one of said first final safety robot position and said second final safety robot position. - View Dependent Claims (7, 8, 9, 10)
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11. A multiaxial robot path control system, comprising:
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a 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 a plurality of safety paths saved in said memory means, each safety path comprising at least one safety level point and at least one final safe position, said at least one safety level point being associated with a plurality of location points of the travel path, said at least one safety level point being arranged between said at least one final safe position and said plurality of location points of the travel path, 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 such that the robot moves to one of said final safe positions. - View Dependent Claims (12, 13, 14, 15)
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Specification